Article | Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019 | Enhanced Motion Control of a Self-Driving Vehicle Using Modelica, FMI and ROS Linköping University Electronic Press Conference Proceedings
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Title:
Enhanced Motion Control of a Self-Driving Vehicle Using Modelica, FMI and ROS
Author:
Nikolas Schröder: Institute of Flight Mechanics and Control, University of Stuttgart, Germany Oliver Lenord: Robert Bosch GmbH, Germany Ralph Lange: Robert Bosch GmbH, Germany
DOI:
10.3384/ecp19157441
Download:
Full text (pdf)
Year:
2019
Conference:
Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019
Issue:
157
Article no.:
045
Pages:
10
No. of pages:
441-450
Publication type:
Abstract and Fulltext
Published:
2019-02-01
ISBN:
978-91-7685-122-7
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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This paper presents a new planar wheel model with bore friction, a control strategy to avoid locking conditions of floor vehicles with caster wheels, and the new FMIAdapter software package, which connects the Functional Mock-up Interface (FMI) standard with the Robot Operating System (ROS). It is demonstrated how this technology enables a convenient model-based control design workflow. The approach is applied to the ActiveShuttle, a self-driving vehicle (SDV) for industrial logistics. After modeling the wheel friction characteristics of the ActiveShuttle, a feed forward controller to avoid high friction torques at the caster wheels in critical operation scenarios is designed and validated by model-in-the-loop simulations. The control function is exported as Functional Mock-up Unit (FMU) for co-simulation. With help of the FMI-Adapter package, the FMU is integrated as ROS node into the service-oriented robot control architecture, enhancing the existing motion controller. The functionality and performance is tested and successfully verified on the ActiveShuttle Dev Kit prototype.

Keywords: Modelica, FMI, ROS, Autonomous Systems, Robotics, Model-based Control, SDV, Caster Wheels

Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019

Author:
Nikolas Schröder, Oliver Lenord, Ralph Lange
Title:
Enhanced Motion Control of a Self-Driving Vehicle Using Modelica, FMI and ROS
DOI:
http://dx.doi.org/10.3384/ecp19157441
References:
No references available

Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019

Author:
Nikolas Schröder, Oliver Lenord, Ralph Lange
Title:
Enhanced Motion Control of a Self-Driving Vehicle Using Modelica, FMI and ROS
DOI:
https://doi.org10.3384/ecp19157441
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Last updated: 2019-06-04