Implementação de um controle preditivo baseado em modelo adaptativo na otimização da trajetória de um veículo militar
This article presents a non-linear optimization technique in order to determine the trajectory of a military vehicle during the Double Lane Change Maneuver (DLCM) of the North Atlantic Treaty Organization (NATO). The modeled vehicle is a three-axle truck, the first one with steering wheels. This art...
| Main Authors: | Acuña, Marcelo Andrés, Rodrigues, Gustavo Simão, Lopes, Elias Dias Rossi |
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| Format: | Online |
| Language: | por |
| Published: |
Instituto Militar de Engenharia (IME)
2021
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| Online Access: |
http://ebrevistas.eb.mil.br/CT/article/view/8635 |
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| Summary: |
This article presents a non-linear optimization technique in order to determine the trajectory of a military vehicle during the Double Lane Change Maneuver (DLCM) of the North Atlantic Treaty Organization (NATO). The modeled vehicle is a three-axle truck, the first one with steering wheels. This article also presents the model of lateral dynamics during longitudinal deceleration. The modeling scheme presented in this work takes into account the optimization structure of Adaptive Model Predictive Control (AMPC), composed of the plant with dynamic changes, reference trajectory and plant update, all integrated by the controller, applied to determine the steering wheel angle. The present algorithm is a method widely studied and used in the current design of autonomous vehicles. The method aims to model the driver’s behavior when driving the vehicle during a demanding maneuver. |
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