Control and Reconfiguration of Train of ...
Type de document :
Compte-rendu et recension critique d'ouvrage
DOI :
Titre :
Control and Reconfiguration of Train of Autonomous Electric Vehicles
Auteur(s) :
Bouibed, Kamel [Auteur]
Aitouche, Abdel [Auteur correspondant]
Systèmes Tolérants aux Fautes [STF]
Merchez, Mireille [Auteur]
Systèmes Tolérants aux Fautes [STF]
Aitouche, Abdel [Auteur correspondant]
Systèmes Tolérants aux Fautes [STF]
Merchez, Mireille [Auteur]

Systèmes Tolérants aux Fautes [STF]
Titre de la revue :
Journal of Asian Electric Vehicles
Pagination :
1543-1551
Date de publication :
2012-06-01
Mot(s)-clé(s) en anglais :
autonomous electric vehicles
fault tolerant control
longitudinal and lateral control
trajectory following
reconguration
fault tolerant control
longitudinal and lateral control
trajectory following
reconguration
Discipline(s) HAL :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Résumé en anglais : [en]
This paper presents the concept of a convoy of autonomous electric vehicles which will be able to continue its mission in the presence of some actuator or sensor faults. The autonomous vehicle is called RobuCar which is ...
Lire la suite >This paper presents the concept of a convoy of autonomous electric vehicles which will be able to continue its mission in the presence of some actuator or sensor faults. The autonomous vehicle is called RobuCar which is constituted by four independently driven wheels and two independently adjustable steering angles. Firstly, we develop longitudinal and lateral controllers for the vehicles operating normally. The objective is to follow a reference trajectory and to maintain safe spacing between vehicles. Secondly, we develop some strategies based on fault detection and isolation results in order to reconfigure the convoy of vehicles in presence of faults. Three categories have been considered: sensor or actuator fault which has not altered the trajectory; fault that affects the velocity or disturbs the trajectory; faults that make impossible for the vehicle to continue its mission. Simulation results are given at the end to show the efficiency of the approach.Lire moins >
Lire la suite >This paper presents the concept of a convoy of autonomous electric vehicles which will be able to continue its mission in the presence of some actuator or sensor faults. The autonomous vehicle is called RobuCar which is constituted by four independently driven wheels and two independently adjustable steering angles. Firstly, we develop longitudinal and lateral controllers for the vehicles operating normally. The objective is to follow a reference trajectory and to maintain safe spacing between vehicles. Secondly, we develop some strategies based on fault detection and isolation results in order to reconfigure the convoy of vehicles in presence of faults. Three categories have been considered: sensor or actuator fault which has not altered the trajectory; fault that affects the velocity or disturbs the trajectory; faults that make impossible for the vehicle to continue its mission. Simulation results are given at the end to show the efficiency of the approach.Lire moins >
Langue :
Anglais
Vulgarisation :
Non
Collections :
Source :
Fichiers
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