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A Potential field approach-based trajectory control for autonomous electric vehicles with in-wheel motors

Journal Article


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Abstract


  • The studies on the autonomous electric vehicle are

    quite attractive due to fewer human-induced errors and improved

    safety in recent years. Extensive research has been done on the

    autonomous steering control of the mobile robot, but study on the

    on-road autonomous electric vehicle is still limited. This paper

    proposes a potential field method to achieve the trajectory control

    of the autonomous electric vehicle with in-wheel motors. Instead

    of strictly following a desired path, this method can form a

    steering corridor with a desired tracking error tolerance and the

    vehicle can be steered smoothly with less control effort. In this

    paper, the innovative potential filed function is presented first to

    determine the desired vehicle yaw angle. Then, according to this

    desired yaw angle, a two-level trajectory controller is proposed

    to achieve the trajectory control. Simulation results are shown to

    prove that this suggested trajectory controller can successfully

    control the vehicle to move within the desired road boundary

    and improve the handling and stability performance of the

    vehicle.

Publication Date


  • 2017

Citation


  • B. Li, H. Du & W. Li, "A Potential field approach-based trajectory control for autonomous electric vehicles with in-wheel motors," IEEE Transactions on Intelligent Transportation Systems, vol. 18, (8) pp. 2044-2055, 2017.

Scopus Eid


  • 2-s2.0-85006840022

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=1888&context=eispapers1

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/886

Has Global Citation Frequency


Number Of Pages


  • 11

Start Page


  • 2044

End Page


  • 2055

Volume


  • 18

Issue


  • 8

Place Of Publication


  • United States

Abstract


  • The studies on the autonomous electric vehicle are

    quite attractive due to fewer human-induced errors and improved

    safety in recent years. Extensive research has been done on the

    autonomous steering control of the mobile robot, but study on the

    on-road autonomous electric vehicle is still limited. This paper

    proposes a potential field method to achieve the trajectory control

    of the autonomous electric vehicle with in-wheel motors. Instead

    of strictly following a desired path, this method can form a

    steering corridor with a desired tracking error tolerance and the

    vehicle can be steered smoothly with less control effort. In this

    paper, the innovative potential filed function is presented first to

    determine the desired vehicle yaw angle. Then, according to this

    desired yaw angle, a two-level trajectory controller is proposed

    to achieve the trajectory control. Simulation results are shown to

    prove that this suggested trajectory controller can successfully

    control the vehicle to move within the desired road boundary

    and improve the handling and stability performance of the

    vehicle.

Publication Date


  • 2017

Citation


  • B. Li, H. Du & W. Li, "A Potential field approach-based trajectory control for autonomous electric vehicles with in-wheel motors," IEEE Transactions on Intelligent Transportation Systems, vol. 18, (8) pp. 2044-2055, 2017.

Scopus Eid


  • 2-s2.0-85006840022

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=1888&context=eispapers1

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers1/886

Has Global Citation Frequency


Number Of Pages


  • 11

Start Page


  • 2044

End Page


  • 2055

Volume


  • 18

Issue


  • 8

Place Of Publication


  • United States