Eventos Anais de eventos
DINAME 2023
XIX International Symposium on Dynamic Problems of Mechanics
Cascade Control for Path Tracking of Autonomous Robotic Vehicles
Submission Author:
Vinícius Macedo , RJ , Brazil
Co-Authors:
Vinícius Macedo, Marcelo Alejandro Forte, Gustavo Simão Rodrigues, Elias Dias Rossi Lopes
Presenter: Gustavo Simão Rodrigues
doi://10.26678/ABCM.DINAME2023.DIN2023-0142
Abstract
One of the great challenges, nowadays, to make robotic systems, wheeled or tracked, fully functional is the optimization of the onboard control systems. Thus, the present work aims to study, computationally implement, and analyze a cascade framework using Model Predictive Control (MPC). For this, the dynamic model of vehicle with skid-steering is used, in which there is no steering of the wheels, and the change of direction is given by the difference of traction forces in each wheel, initially using only the dynamics of the chassis. With this, a calibration and two cases were made, and the results of the simulations were shown in comparative graphs of the references and values achieved, as well as the analysis of the mean squared errors.
Keywords
MPC, cascade control, robotic vehicles
