Optimal controller design for energy effective path following of car-like mobile robot

作     者：Kiwon Yeom 

作者机构：Department of Human Intelligence Robot Engineering Sangmyung University 31 Sangmyeongdae-gil Dongnam-gu Cheonan-si Chungcheongnam-do South Korea 

出 版 物：《AIP Conference Proceedings》 

年 卷 期：2023年第3018卷第1期

学科分类：07[理学] 0702[理学-物理学] 

摘      要：The Automated self-driving vehicles not only allow of improved energy saving but also better traffic flow. In particular, with the rapid technological advance of autonomous electric vehicles, technical development of energy efficient vehicle control is becoming progressively important due to the limited battery capacity and power of electric vehicles. In this study, the Model Predictive Controller (MPC) algorithm is used to solve the optimal speed profile of the electric vehicles for minimizing energy consumption in a receding horizon and derived to follow the energy efficient path plan of the mobile vehicle. Finally, computational simulation results show that the proposed controller can successfully navigate and drive toward a final destination with energy efficient manner.