Projects per year
Abstract
To study the effects of uncertainty in autonomous motion planning and control, an 8-DOF model of a tractor-semitrailer is implemented and analyzed. The implications of uncertainties in the model are then quantified and presented using sensitivity analysis and closed-loop simulations. The study shows that different model parameters are more or less critical depending on the investigated scenario. Using sampling-based closed-loop predictions, uncertainty bounds on state variable trajectories are determined. Our findings suggest the potential for the inclusion of our method within a robust predictive controller or as a driver-assistance system for rollover or lane departure warning.
| Original language | English |
|---|---|
| Publication status | Published - 2022 |
| Event | AVEC'22 The 15th International Symposium on Advanced Vehicle Control - Kanagawa Institute of Technology (virtual), Kanagawa, Japan Duration: 2022 Sept 12 → 2022 Sept 16 |
Conference
| Conference | AVEC'22 The 15th International Symposium on Advanced Vehicle Control |
|---|---|
| Country/Territory | Japan |
| City | Kanagawa |
| Period | 2022/09/12 → 2022/09/16 |
Subject classification (UKÄ)
- Control Engineering
Fingerprint
Dive into the research topics of 'Uncertainties in Robust Planning and Control of Autonomous Tractor-Trailer Vehicles'. Together they form a unique fingerprint.Projects
- 2 Active
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ELLIIT B14: Autonomous Force-Aware Swift Motion Control
Jia, Z., Robertsson, A., Olofsson, B., Nielsen, L., Frisk, E., Zhou, J. & Westny, T.
2021/01/01 → 2025/12/31
Project: Research
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RobotLab LTH
Bagge Carlson, F., Johansson, R., Karlsson, M., Olofsson, B., Robertsson, A., Robertz, S., Haage, M., Malec, J., Nilsson, K., Nugues, P., Stenmark, M., Topp, E. A., Krueger, V., Åström, H., Mayr, M., Salt Ducaju, J., Nishimura, M., Wisbrant, J., Dürr, A., Mayr, M., Nugues, P., Klang, M., Klöckner, M., Nardi, L., Ahmad, F., Oxenstierna, J., Rizwan, M., Reichenbach, C., Bergström, J., Dell'Unto, N., Maunsbach, L., Åström, K., Blomdell, A., Soltesz, K., Magnusson, M., Fransson, P., Karayiannidis, Y., Johansson, A. T., Jia, Z., Laban, L., Wingqvist, B., Guberina, M., Jena, A., Westin, E., Frick, C., Pisarevskiy, A., Nilsson, A., Reitmann, S. & Hvarfner, C.
1993/01/01 → …
Project: Research
Equipment
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RobotLab LTH Infrastructure
Volker Krueger (Manager), Björn Olofsson (Manager), Yiannis Karayiannidis (Manager), Mathias Haage (Manager), Jacek Malec (Manager) & Elin A. Topp (Manager)
Faculty of Engineering, LTHInfrastructure