Jeroen Ploeg - Academia.edu (original) (raw)
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Papers by Jeroen Ploeg
IEEE Transactions on Intelligent Transportation Systems
Advanced driver assistance systems are increasingly available on road vehicles. These systems req... more Advanced driver assistance systems are increasingly available on road vehicles. These systems require a thorough development procedure, an important part of which consists of hardware-in-the-loop experiments in a controlled environment. To this end, a facility called Vehicle Hardware-In-the-Loop (VeHIL) is operated, aiming at testing the entire road vehicle in an artificial environment. In VeHIL, the test vehicle is placed on a roller bench, whereas other traffic participants, i.e., vehicles in the direct neighborhood of the test vehicle, are simulated using wheeled mobile robots (WMRs). To achieve a high degree of experiment reproducibility, focus is put on the design of an accurate position control system for the robots. Due to the required types of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is overactuated. Furthermore, since the robot is capable of high-dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach, which regards the robot as a set of identical unicycles. As a result, the WMR is position controlled, whereas each unicycle is controlled, taking weight transfer and longitudinal and lateral tire slip into account.
Organic Process Research & Development, 2008
2008 IEEE Intelligent Vehicles Symposium, 2008
In order to support the development process of Advanced Driver Assistance systems for road vehicl... more In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is overactuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account.
In this study, the motion control design for an overactuated vehicle is considered. The actuator ... more In this study, the motion control design for an overactuated vehicle is considered. The actuator redundancy is successfully dealt with through the use of a numerical optimization technique in combination with the formulation of a performance criterion. It is concluded that the proposed dynamic inverse algorithm is capable of coordinating all eight actuators of the vehicle independently and up to limit tyre adhesion conditions. Optimal longitudinal and lateral traction forces of the tyre are commanded without excessive wheel slip. The control design is evaluated through simulations and experiments conducted with an automatic guided vehicle.
IEEE Transactions on Intelligent Transportation Systems
Advanced driver assistance systems are increasingly available on road vehicles. These systems req... more Advanced driver assistance systems are increasingly available on road vehicles. These systems require a thorough development procedure, an important part of which consists of hardware-in-the-loop experiments in a controlled environment. To this end, a facility called Vehicle Hardware-In-the-Loop (VeHIL) is operated, aiming at testing the entire road vehicle in an artificial environment. In VeHIL, the test vehicle is placed on a roller bench, whereas other traffic participants, i.e., vehicles in the direct neighborhood of the test vehicle, are simulated using wheeled mobile robots (WMRs). To achieve a high degree of experiment reproducibility, focus is put on the design of an accurate position control system for the robots. Due to the required types of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is overactuated. Furthermore, since the robot is capable of high-dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach, which regards the robot as a set of identical unicycles. As a result, the WMR is position controlled, whereas each unicycle is controlled, taking weight transfer and longitudinal and lateral tire slip into account.
Organic Process Research & Development, 2008
2008 IEEE Intelligent Vehicles Symposium, 2008
In order to support the development process of Advanced Driver Assistance systems for road vehicl... more In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the required type of maneuvers, these robots have independently driven and steered wheels. Consequently, the robot is overactuated. Furthermore, since the robot is capable of high dynamic maneuvers, slip effects caused by the tires can play an important role. A position controller based on feedback linearization is presented, using the so-called multicycle approach which regards the robot as a set of independent unicycles. As a result, the wheeled mobile robot is position controlled while each unicycle is controlled taking weight transfer as well as longitudinal and lateral tire slip into account.
In this study, the motion control design for an overactuated vehicle is considered. The actuator ... more In this study, the motion control design for an overactuated vehicle is considered. The actuator redundancy is successfully dealt with through the use of a numerical optimization technique in combination with the formulation of a performance criterion. It is concluded that the proposed dynamic inverse algorithm is capable of coordinating all eight actuators of the vehicle independently and up to limit tyre adhesion conditions. Optimal longitudinal and lateral traction forces of the tyre are commanded without excessive wheel slip. The control design is evaluated through simulations and experiments conducted with an automatic guided vehicle.