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.
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 |