Accurate autonomous navigation strategy dedicated to the storage of buses in a bus center

Eric Lucet (1) , Alain Micaelli (1) , François-Xavier Russotto (1)

1 LRI - Laboratoire de Robotique Interactive

This paper deals with an innovative autonomous bus navigation and parking system in a bus depot, in order to optimize their movements in a confined area. The kinematic model of the vehicle is defined. Considering its dimensions and weight as well as the centimetric accuracy required, a predictive controller is designed, based on its model linearized around the changing path curvature value, to perform accurate curved paths tracking with a limited tracking error guaranteed by the consideration of a constraint. This controller and additional sliding observers are designed according to the distance traveled, allowing maneuvers to be performed at any forward or backward speed with constant accuracy. In addition, these observers are not affected by path tracking errors. The implementation on an industrial vehicle, operated under realistic conditions, demonstrates the performance and robustness of this navigation system.

Mots clés: Heavy car-like mobile robot; Linear constrained predictive regulator; Curvilinear abscissa dependent sliding estimator; Bus center autonomous storage

Domaines: Automatique / Robotique

Eric Lucet, Alain Micaelli, François-Xavier Russotto. Accurate autonomous navigation strategy dedicated to the storage of buses in a bus center. Robotics and Autonomous Systems, 2021, 136, pp.103706. ⟨10.1016/j.robot.2020.103706⟩. ⟨cea-03314561⟩