JRM Vol.27 No.6 pp. 653-659
doi: 10.20965/jrm.2015.p0653


Optimal Tracking Control of a Micro Ground Vehicle

Soichiro Watanabe and Masanori Harada

National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

June 19, 2015
October 12, 2015
December 20, 2015
optimal control, MGV, trajectory
Coordinate system of MGV
This paper investigates the application of optimal micro ground vehicle (MGV) control involving overall tracking by model-predictive control (MPC) during a minimum-time maneuver. The MPC’s reference trajectory is obtained beforehand by numerically calculating an optimal control problem described as a minimum-time maneuver. Results provide nominal tracking performance and confirm the feasibility of our approach.
Cite this article as:
S. Watanabe and M. Harada, “Optimal Tracking Control of a Micro Ground Vehicle,” J. Robot. Mechatron., Vol.27 No.6, pp. 653-659, 2015.
Data files:
  1. [1] T. Kobayashi and S. Majima, “Automatic Parking Control for a 4-Wheeled Vehicle by Non-Linear Receding Horizon Control,” Trans. of Japan Society of Mechanical Engineers, Series C, Vol.70, No.695, pp. 166-173, 2004 (in Japanese).
  2. [2] M. Hurni, P. Sekhavat, and I. M. Ross, “Autonomous Trajectory Planning Using Real-Time Information Updates,” AIAA Guidance, Navigation and Control Conf., AIAA 2008-6305, 2008.
  3. [3] Q. Gong, L. R. Lewis, and I. M. Ross, “Pseudospectral Motion Planning for Autonomous Vehicles,” J. of Guidance, Control, and Dynamics, Vol.32, No.3, pp. 1039-1045, 2009.
  4. [4] S. Watanabe and M. Harada, “Optimal Guidance and Control of Micro Ground Vehicles,” Proc. of 2014 JSAE Annual Congress (spring), No.40-14, pp. 15-20, 2014 (in Japanese).
  5. [5] J. M. Maciejowski, “Predictive Control with Constraints,” Pearson Education Limited, 2002 (S. Adachi and M. Kanno (Trans.), “Predictive Control with Constraints,” Tokyo Denki University Press, 2005 (in Japanese)).
  6. [6] T. Ohtsuka (Ed.), “Practical Application of Control by Real-Time Optimization,” Corona Publishing, 2015 (in Japanese).
  7. [7] K. Oyama and K. Nonaka, “Model Predictive Parking Control for Nonholonomic Vehicles using Time-State Control Form,” 2013 European Control Conf., pp. 458-465, 2013.
  8. [8] K. Oyama and K. Nonaka, “Model Predictive Parking Control with Obstacle Avoidance Considering Automatic Tuning of Switching Point,” Trans. of the Society of Instrument and Control Engineers, Vol.50, No.1, pp. 9-17, 2014 (in Japanese).
  9. [9] S. Watanabe and M. Harada, “Real-Time Optimal Feedback Control of UGVs Using Modified Carathéodory-π Solutions,” Proc. of 12th Int. Symposium on Advanced Vehicle Control, CD-ROM, pp. 385-390, 2014.
  10. [10] A. E. Bryson and Y. C. Ho, “Applied Optimal Control,” Taylor& Francis, Levittown, 1975.
  11. [11] J. Z. Ben-Asher, “Optimal Control Theory with Aerospace Applications,” AIAA Education Series, Virginia, 2010.
  12. [12] M. Harada, “Direct Trajectory Optimization by a Jacobi Pseudospectral Method with the Weights of High-Order Gauss-Lobatto Formulae,” Trans. of Japan Society of Mechanical Engineers, Series C, Vol.73, No.728, pp.119-124, 2007 (in Japanese).
  13. [13] M. Harada, “Covector Estimation for Optimal Control Solver using a Jacobi Pseudospectral Method,” Trans. of the Society of Instrument and Control Engineers, Vol.49, No.8, pp. 808-815, 2013 (in Japanese).

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jun. 03, 2024