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A Model Predictive Control Approach To Roll Stability Of A Scaled Crash Avoidance Vehicle, Nikola John Linn Noxon
A Model Predictive Control Approach To Roll Stability Of A Scaled Crash Avoidance Vehicle, Nikola John Linn Noxon
Master's Theses
In this paper, a roll stability controller (RSC) is presented based on an eight degree of freedom dynamic vehicle model. The controller is designed for and tested on a scaled vehicle performing obstacle avoidance maneuvers on a populated test track. A rapidly-exploring random tree (RRT) algorithm is used for the vehicle to execute a trajectory around an obstacle, and examines the geographic, non-homonymic, and dynamic constraints to maneuver around the obstacle. A model predictive controller (MPC) uses information about the vehicle state and, based on a weighted performance measure, generates an optimal trajectory around the obstacle. The RSC uses the …