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AI-based control approaches for lateral vehicle guidance of industrial trucks

  • Two different control concepts for the automatic track guidance of forklifts are proposed. Both approaches are based on Reinforcement Learning (RL), a method of Artificial Intelligence (AI), and are able to take into account time-variant parameters, such as the vehicle velocity, and to reduce the influence of the path curvature, the most important disturbance variable of lateral vehicle control. In the first approach, both, the path curvature and the vehicle velocity signal, are provided to the controller in addition to the state variables of the controlled system. By varying the corresponding parameters in the training process, both signals can be considered and the control parameters can be optimized accordingly. In the second approach, several controllers (multi-model concept) considering the path curvature are used and the varying vehicle velocity is taken into account using a gain-scheduling concept. Considering time-variant vehicle parameters and the influence of the disturbance variable during operation, a stable track guidance is guaranteed within the whole speed range of the industrial trucks.

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Metadaten
Author:Timm Sauer, Manuel Gorks, Luca Spielmann, Nils Hepp, Klaus Zindler, Ulrich Jumar
URL:https://www.sciencedirect.com/science/article/pii/S2405896323019092
DOI:https://doi.org/https://doi.org/10.1016/j.ifacol.2023.10.1501.
Parent Title (English):IFAC WC 2023 – The 22nd World Congress of the International Federation of Automatic Control 2023, Yokohama, Japan, 09.07.2023 - 14.07.2023
Document Type:Conference Proceeding
Language:English
Year of Completion:2023
Release Date:2024/03/11
Tag:Artificial intelligence, Lateral vehicle control, Intelligent transportation systems
GND Keyword:Flurförderer; Künstliche Intelligenz
Urheberrecht:0
Institutes:Fakultät Ingenieurwissenschaften / Labore / Simulation, Steuerung und Regelung
research focus :Intelligent Systems / Intelligent Mobility
Reviewed:ja
Licence (German):Keine Lizenz - es gilt das deutsche Urheberrecht
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