Profile generation using the filtering technique for the fast motion and smooth performance in the hardware level of autonomous system

IF 1.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC
Duc Khai Lam, Nhat Minh Ngo, Ha Quang Thinh Ngo
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Abstract

This study addresses the challenge of motion control in autonomousvehicles through the introduction of a novel profile generation design. Specifically,autonomous vehicles often contend with uncertain factors and physicallimitations within their operational environments, such as abrupt changes inacceleration or intricate parametric motion profiles. To tackle this problem, afiltering technique for motion profile generation is proposed, leveraging ahardware programming language as its foundation. The investigation begins byanalyzing the specific structure of the mobile platform, which includes twoactive side wheels, two passive rear wheels, a high load capacity, and adifferential drive mode. Building upon this theoretical basis, the proposedfiltering technique is introduced to attain smooth motion profiles and optimizetiming. Furthermore, the study suggests the use of FPGA (Field ProgrammableGate Array) acceleration to expedite these computations for swift motionprocessing. To validate the efficacy of the proposed method, both the mobilevehicle and the load are simulated as a one-axis linear ball-screw system withan aluminum ruler. The experimental results unequivocally demonstrate theeffectiveness, feasibility, and applicability of the proposed approach across avariety of industrial solutions.

Abstract Image

基于滤波技术的轮廓生成在自治系统硬件级的快速平滑性能
本研究通过引入一种新的轮廓生成设计来解决无人驾驶车辆运动控制的挑战。具体而言,自动驾驶汽车在其运行环境中经常面临不确定因素和物理限制,例如突然的速度变化或复杂的参数运动轮廓。为了解决这个问题,提出了一种以硬件编程语言为基础的运动轮廓生成过滤技术。研究从分析移动平台的具体结构开始,该平台包括两个主动侧轮、两个被动后轮、高承载能力和差速驱动模式。在此理论基础上,引入了所提出的滤波技术,以获得平滑的运动轮廓并进行优化。此外,该研究建议使用FPGA(现场可编程门阵列)加速来加速这些计算,以实现快速的运动处理。为了验证所提出方法的有效性,将移动车辆和负载模拟为一个带铝尺的单轴线性滚珠丝杠系统。实验结果明确证明了所提出的方法在各种工业解决方案中的有效性、可行性和适用性。
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来源期刊
Iet Science Measurement & Technology
Iet Science Measurement & Technology 工程技术-工程:电子与电气
CiteScore
4.30
自引率
7.10%
发文量
41
审稿时长
7.5 months
期刊介绍: IET Science, Measurement & Technology publishes papers in science, engineering and technology underpinning electronic and electrical engineering, nanotechnology and medical instrumentation.The emphasis of the journal is on theory, simulation methodologies and measurement techniques. The major themes of the journal are: - electromagnetism including electromagnetic theory, computational electromagnetics and EMC - properties and applications of dielectric, magnetic, magneto-optic, piezoelectric materials down to the nanometre scale - measurement and instrumentation including sensors, actuators, medical instrumentation, fundamentals of measurement including measurement standards, uncertainty, dissemination and calibration Applications are welcome for illustrative purposes but the novelty and originality should focus on the proposed new methods.
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