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Path following hybrid control for vehicle stability applied to industrial forklifts

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Path following hybrid control for vehicle stability applied to industrial forklifts

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dc.contributor.author Girbés, Vicent es_ES
dc.contributor.author Armesto Ángel, Leopoldo es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2016-04-25T10:49:45Z
dc.date.available 2016-04-25T10:49:45Z
dc.date.issued 2014-06
dc.identifier.issn 0921-8890
dc.identifier.uri http://hdl.handle.net/10251/62883
dc.description.abstract The paper focuses on a closed-loop hybrid controller (kinematic and dynamic) for path following approaches with industrial forklifts carrying heavy loads at high speeds, where aspects such as vehicle stability, safety, slippage and comfort are considered. The paper first describes a method for generating Double Continuous Curvature (DCC) paths for non-holonomic wheeled mobile robots, which is the basis of the proposed kinematic controller. The kinematic controller generates a speed profile, based on slow-in and fast-out policy, and a curvature profile recomputing DCC paths in closed-loop. The dynamic controller determines maximum values for decelerations and curvatures, as well as bounded sharpness so that instantaneous vehicle stability conditions can be guaranteed against lateral and frontal tip-overs. One of the advantages of the proposed method, with respect to full dynamic controllers, is that it does not require dynamic parameters to be estimated for modelling, which in general can be a difficult task. The proposed kinematic dynamic controller is afterwards compared with a classic kinematic controller like Pure-Pursuit. For that purpose, in our hybrid control structure we have just replaced the proposed kinematic controller with Pure-Pursuit. Several metrics, such as settling time, overshoot, safety and comfort have been analysed. es_ES
dc.description.sponsorship This work was supported by VALi+d and PROMETEO Programs (Conselleria d'Educacio, Generalitat Valenciana), DIVISAMOS (DPI-2009-14744-C03-01) and SAFEBUS (IPT-2011-1165-370000): Ministry of Economy and Competitivity. en_EN
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation.ispartof Robotics and Autonomous Systems es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Smooth path following es_ES
dc.subject Continuous curvature paths es_ES
dc.subject Clothoids es_ES
dc.subject Vehicle stability es_ES
dc.subject Kinematic and dynamic control es_ES
dc.subject Hybrid control es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Path following hybrid control for vehicle stability applied to industrial forklifts es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.robot.2014.01.004
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//DPI2009-14744-C03-01/ES/Diseño De Un Vehiculo De Inspeccion Submarina Autonoma Para Misiones Oceanograficas: Grupo De Investigacion Idf-Upv/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//IPT-2011-1165-370000/ES/SISTEMAS AVANZADOS DE SEGURIDAD INTEGRAL EN AUTOBUSES - SAFEBUS/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Girbés, V.; Armesto Ángel, L.; Tornero Montserrat, J. (2014). Path following hybrid control for vehicle stability applied to industrial forklifts. Robotics and Autonomous Systems. 62(6):910-922. https://doi.org/10.1016/j.robot.2014.01.004 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1016/j.robot.2014.01.004 es_ES
dc.description.upvformatpinicio 910 es_ES
dc.description.upvformatpfin 922 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 62 es_ES
dc.description.issue 6 es_ES
dc.relation.senia 266079 es_ES
dc.identifier.eissn 1872-793X
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
dc.contributor.funder Generalitat Valenciana es_ES


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