Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle
The advancement of autonomous vehicle technology has markedly evolved during the last decades. Reliable vehicle control is one of the essential technologies in this domain. This study aims to develop a proposed method for controlling an autonomous personal mobility vehicle called SEATER (Single-pass...
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| Format: | Article |
| Language: | English |
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Indonesian Institute of Sciences
2024-12-01
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| Series: | Journal of Mechatronics, Electrical Power, and Vehicular Technology |
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| Online Access: | https://mev.brin.go.id/mev/article/view/1105 |
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| author | Rakha Rahmadani Pratama Catur Hilman Adritya Haryo Bhakti Baskoro Joga Dharma Setiawan Dyah Kusuma Dewi Paryanto Paryanto Mochammad Ariyanto Roni Permana Saputra |
| author_facet | Rakha Rahmadani Pratama Catur Hilman Adritya Haryo Bhakti Baskoro Joga Dharma Setiawan Dyah Kusuma Dewi Paryanto Paryanto Mochammad Ariyanto Roni Permana Saputra |
| author_sort | Rakha Rahmadani Pratama |
| collection | DOAJ |
| description | The advancement of autonomous vehicle technology has markedly evolved during the last decades. Reliable vehicle control is one of the essential technologies in this domain. This study aims to develop a proposed method for controlling an autonomous personal mobility vehicle called SEATER (Single-passenger Electric Autonomous Transporter), using Non-linear Model Predictive Control (NMPC). We propose a single-shooting technique to solve the optimal control problem (OCP) via non-linear programming (NLP). The NMPC is applied to a non-holonomic vehicle with a differential drive setup. The vehicle utilizes odometry data as feedback to help guide it to its target position while complying with constraints, such as vehicle constraints and avoiding obstacles. To evaluate the method's performance, we have developed the SEATER model and testing environment in the Gazebo Simulation and implemented the NMPC via the Robot Operating System (ROS) framework. Several simulations have been done in both obstacle-free and obstacle-filled areas. Based on the simulation results, the NMPC approach effectively directed the vehicle to the desired pose while satisfying the set constraints. In addition, the results from this study have also pointed out the reliability and real-time performance of NMPC with a single-shooting method for controlling SEATER in the various tested scenarios. |
| format | Article |
| id | doaj-art-ddcc7bbd2f5540c7988c855d4ea82709 |
| institution | OA Journals |
| issn | 2087-3379 2088-6985 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Indonesian Institute of Sciences |
| record_format | Article |
| series | Journal of Mechatronics, Electrical Power, and Vehicular Technology |
| spelling | doaj-art-ddcc7bbd2f5540c7988c855d4ea827092025-08-20T02:01:04ZengIndonesian Institute of SciencesJournal of Mechatronics, Electrical Power, and Vehicular Technology2087-33792088-69852024-12-0115218619610.55981/j.mev.2024.1105357Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicleRakha Rahmadani Pratama0Catur Hilman Adritya Haryo Bhakti Baskoro1Joga Dharma Setiawan2Dyah Kusuma Dewi3Paryanto Paryanto4Mochammad Ariyanto5Roni Permana Saputra6Department of Mechanical Engineering Diponegoro University Semarang, IndonesiaResearch Centre for Smart Mechatronics National Research and Innovation Agency Bandung, IndonesiaDepartment of Mechanical Engineering Diponegoro University Semarang, IndonesiaResearch Centre for Smart Mechatronics National Research and Innovation Agency Bandung, IndonesiaDepartment of Mechanical Engineering Diponegoro University Semarang, IndonesiaDepartment of Mechanical Engineering, Osaka University, 1-1 Yamadaoka, Suita, Osaka, 565-0871, JapanResearch Center for Smart Mechatronics, National Research and Innovation Agency (BRIN), Jalan Sangkuriang, Bandung, 40135, IndonesiaThe advancement of autonomous vehicle technology has markedly evolved during the last decades. Reliable vehicle control is one of the essential technologies in this domain. This study aims to develop a proposed method for controlling an autonomous personal mobility vehicle called SEATER (Single-passenger Electric Autonomous Transporter), using Non-linear Model Predictive Control (NMPC). We propose a single-shooting technique to solve the optimal control problem (OCP) via non-linear programming (NLP). The NMPC is applied to a non-holonomic vehicle with a differential drive setup. The vehicle utilizes odometry data as feedback to help guide it to its target position while complying with constraints, such as vehicle constraints and avoiding obstacles. To evaluate the method's performance, we have developed the SEATER model and testing environment in the Gazebo Simulation and implemented the NMPC via the Robot Operating System (ROS) framework. Several simulations have been done in both obstacle-free and obstacle-filled areas. Based on the simulation results, the NMPC approach effectively directed the vehicle to the desired pose while satisfying the set constraints. In addition, the results from this study have also pointed out the reliability and real-time performance of NMPC with a single-shooting method for controlling SEATER in the various tested scenarios.https://mev.brin.go.id/mev/article/view/1105model predictive controlautonomous robotcollision avoidancerobot operating systemnonlinear programming |
| spellingShingle | Rakha Rahmadani Pratama Catur Hilman Adritya Haryo Bhakti Baskoro Joga Dharma Setiawan Dyah Kusuma Dewi Paryanto Paryanto Mochammad Ariyanto Roni Permana Saputra Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle Journal of Mechatronics, Electrical Power, and Vehicular Technology model predictive control autonomous robot collision avoidance robot operating system nonlinear programming |
| title | Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle |
| title_full | Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle |
| title_fullStr | Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle |
| title_full_unstemmed | Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle |
| title_short | Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle |
| title_sort | non linear model predictive control with single shooting method for autonomous personal mobility vehicle |
| topic | model predictive control autonomous robot collision avoidance robot operating system nonlinear programming |
| url | https://mev.brin.go.id/mev/article/view/1105 |
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