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Uncertainties in Robust Planning and Control of Autonomous Tractor-Trailer Vehicles

Westny, Theodor ; Olofsson, Björn LU and Frisk, Erik (2022) AVEC'22 The 15th International Symposium on Advanced Vehicle Control
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.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Contribution to conference
publication status
published
subject
conference name
AVEC'22 The 15th International Symposium on Advanced Vehicle Control
conference location
Kanagawa, Japan
conference dates
2022-09-12 - 2022-09-16
project
ELLIIT B14: Autonomous Force-Aware Swift Motion Control
RobotLab LTH
language
English
LU publication?
yes
id
a52e553e-3fe9-450b-b12d-f0184c42e20d
date added to LUP
2023-01-28 20:12:14
date last changed
2023-04-24 21:07:05
@misc{a52e553e-3fe9-450b-b12d-f0184c42e20d,
  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.}},
  author       = {{Westny, Theodor and Olofsson, Björn and Frisk, Erik}},
  language     = {{eng}},
  title        = {{Uncertainties in Robust Planning and Control of Autonomous Tractor-Trailer Vehicles}},
  year         = {{2022}},
}