ORCID Profile
0000-0003-3632-1095
Current Organisation
RMIT University
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Publisher: Springer International Publishing
Date: 07-08-2020
Publisher: Springer Science and Business Media LLC
Date: 09-12-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2022
Publisher: Springer Singapore
Date: 2019
Publisher: Springer Singapore
Date: 2019
Publisher: Siec Badawcza Lukasiewicz - Przemyslowy Instytut Motoryzacji
Date: 31-03-2021
Abstract: The autodriver algorithm was introduced as a path-following algorithm for autonomous vehicles, which uses road geometry data and planar vehicle dynamics. In this paper, the autodriver algorithm is improved according to practical implications, and a more realistic vehicle model (roll mode) is used, which considers roll degree of freedom in addition to a planar motion. A Ghost-Car path-following approach is introduced to define the desired location of the car at every instance. Key steady-state characteristics of turning vehicles, namely the curvature, yaw rate, and side-slip responses, are discussed and used to construct a feed-forward component of a path-following controller based on the autodriver algorithm. Feedback control loops are designed and applied to minimise transient errors between the road and vehicle positions. Finally, simulations are performed to analyse the path-following performance of the proposed scheme. The results show promising performance of the controller both in terms of error minimisation and passenger comfort.
Publisher: Walter de Gruyter GmbH
Date: 28-01-2019
Abstract: Articulated heavy vehicles have some specific performance limitations and safety risks due to their special dynamic characteristics. They show poor manoeuvrability at low speeds and may lose their stability in different manners at high speeds. In this study, the potential of active steering control of the semitrailer on manoeuvrability and stability of tractor-semitrailer combinations is investigated. A linear bicycle model and a nonlinear version are used for controller design and vehicle dynamic simulation in MATLAB environment. The Linear Quadratic Regulator optimal state feedback control is used to minimise the tracking error at low-speed, and regulate Rearward Amplification ratio and roll at high-speed. Quantum Particle Swarm Optimisation is used for optimising the weighting factors. Three different control algorithms are introduced and it is demonstrated through simulations that the vehicle with the proposed steering control exhibits desirable improvements compared to the baseline vehicle.
Publisher: Informa UK Limited
Date: 21-02-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: Informa UK Limited
Date: 05-04-2021
Location: Iran (Islamic Republic of)
No related grants have been discovered for Sina A. Milani.