Comparative Analysis of Various Control Techniques for a ROS-based Platooning Architecture Andrew Youssef, Gasser Elazab, Seif El-Bouhy, Mohamed Owis, Youssef Salem, et al. 2020 8th International Conference on Control Mechatronics and Automation Iccma 2020, 2020 Over the past few decades, cooperative autonomous vehicles have gained considerable research attention for transportation development. One of the most important cooperative applications is vehicle platooning. Control strategies for platoon vehicles' trajectory tracking has recently attracted extensive interests. This study investigates two different control algorithms for the platoon leader to manage its speed and trajectory. In addition, a robust control approach is adopted for the followers to manage their inter-vehicular distances. These controllers are applied on a platoon of three vehicles, each vehicle is modeled using the Ackermann steering model. A comparative study is analysed between the controllers implemented, which are Go- to-Goal (G2G) control and Nonlinear Model Predictive Control (NMPC). The followers are controlled using Sliding Mode Surface (SMC) controller. Two experiments are conducted to evaluate the controllers’ performance. The first is tracking a predefined velocity profile in longitudinal motion. The second is tracking a maneuver generated using Artificial Potential Field (APF) path planning algorithm. The overall system’s architecture is implemented through Robot Operating System (ROS). It is evaluated using Gazebo environment to assess the system’s performance. Results show satisfactory performance in terms of velocity, trajectory and spacing distance convergence that are further discussed through out the study.
Quadrotor Trajectory Tracking Control using Non-Linear Model Predictive Control with ROS Implementation Mohamed Owis, Seif El-Bouhy, Ayman El-Badawy 2019 IEEE 7th International Conference on Control Mechatronics and Automation Iccma 2019, 2019 This paper presents a Model Predictive Controller for trajectory tracking control of the quadrotor using the ACADO Toolkit on Matlab/Simulink. Model Predictive Control (MPC) prediction feature and ability to obtain optimal control action yields an accurate trajectory tracking performance. The controller is applied to a quadrotor system. The mathematical model was derived using Newton’s and Euler’s laws. Simulations for the trajectory tracking test was done for evaluating the trajectory tracking performance. Afterwards, an interface between RotorS Gazebo Simulator and Simulink was implemented using the Robot Operating System (ROS) for validation of the controller’s performance. The paper presents the results of both simulations under disturbances to determine the suitability and validity of the proposed control algorithm.
RECENT SCHOLAR PUBLICATIONS
Comparative Analysis of Various Control Techniques for a ROS-based Platooning Architecture A Youssef, G Elazab, S El-Bouhy, M Owis, Y Salem, DM Mahfouz 2020 8th International Conference on Control, Mechatronics and Automation … , 2020 2020
Quadrotor trajectory tracking control using non-linear model predictive control with ros implementation M Owis, S El-Bouhy, A El-Badawy 2019 7th International Conference on Control, Mechatronics and Automation … , 2019 2019 Citations: 21
MOST CITED SCHOLAR PUBLICATIONS
Quadrotor trajectory tracking control using non-linear model predictive control with ros implementation M Owis, S El-Bouhy, A El-Badawy 2019 7th International Conference on Control, Mechatronics and Automation … , 2019 2019 Citations: 21
Comparative Analysis of Various Control Techniques for a ROS-based Platooning Architecture A Youssef, G Elazab, S El-Bouhy, M Owis, Y Salem, DM Mahfouz 2020 8th International Conference on Control, Mechatronics and Automation … , 2020 2020
