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]

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

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 >

Langue :

Anglais

Vulgarisation :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL