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Journal : Mechatronics, Electrical Power, and Vehicular Technology

Non-linear model predictive control with single-shooting method for autonomous personal mobility vehicle Pratama, Rakha Rahmadani; Baskoro, Catur Hilman Adritya Haryo Bhakti; Setiawan, Joga Dharma; Dewi, Dyah Kusuma; Paryanto, Paryanto; Ariyanto, Mochammad; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 15, No 2 (2024)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/j.mev.2024.1105

Abstract

The advancement of autonomous vehicle technology has markedly evolved during the last decades. Reliable vehicle control is one of the essential technologies in this domain. This study aims to develop a proposed method for controlling an autonomous personal mobility vehicle called SEATER (Single-passenger Electric Autonomous Transporter), using Non-linear Model Predictive Control (NMPC). We propose a single-shooting technique to solve the optimal control problem (OCP) via non-linear programming (NLP). The NMPC is applied to a non-holonomic vehicle with a differential drive setup. The vehicle utilizes odometry data as feedback to help guide it to its target position while complying with constraints, such as vehicle constraints and avoiding obstacles. To evaluate the method's performance, we have developed the SEATER model and testing environment in the Gazebo Simulation and implemented the NMPC via the Robot Operating System (ROS) framework. Several simulations have been done in both obstacle-free and obstacle-filled areas. Based on the simulation results, the NMPC approach effectively directed the vehicle to the desired pose while satisfying the set constraints. In addition, the results from this study have also pointed out the reliability and real-time performance of NMPC with a single-shooting method for controlling SEATER in the various tested scenarios.
Co-Authors Aan Ardian Abimanyu, Candra AGUS PURWANTO Alim Harun Pamungkas Alqarni, Wais Andhi Nur Rahmadi, Andhi Nur Andrian Riyadi Ardianto, Aan Ari Diana Susanti, Ari Diana Aries Susanty Azalia Kartika Suri, Azalia Kartika Azhari, Fadlan Azizah, Rifo N Baskoro, Catur Hilman Adritya Haryo Bhakti Baskoro, Sefrian Imam Berkah Fajar TK Busairi, Achmad Desy Sulistyowati, Desy Dewi, Kristina Ratna Dian Retnaningdyah, Dian Dwi Budi Santoso Dyah Kusuma Dewi Eko Riswanto, Eko F, Nur Kholis Fadillah, Nuzulul Fathika, Rahma N Febrianto Amri Ristadi Felani, Muhamad Iqbal Firdausy, Farah Mutia Gito Sugiyanto Guterres, Natalino Fonseca D.S. Hanifa, Vina Hariana, Hariana Haryanto, Rifqi Hasnan Bachtiar Hermiyanto Hermiyanto Heru Mugiarso Ilham Roy Saputro, Ilham Roy Indrawan, Harry Intan Kusumawati Jati, Andika Seto Kuncoro Joga Dharma Setiawan Laela Khasanah, Isrofiah Lega, Michael Lutfiani, Rachmi Azizah Maghfi, Risya Ulayyar Mansuri, Aly Syariati Margono Margono Maryova, Frieska Maulana, Andra Mochammad Ariyanto Mohammad Samsul Bakhri Mohammad Tauviqirrahman Munadi Munadi Munyensanga, Patrick Muslim, Zulkifli Alif Nur Cahyo Nurwijayanti Penny Rahmawaty Pranolo, Sunu Herwi Pratama, Rakha Rahmadani Prismantoko, Adi Putra, Raka Mancini Putro, Wibisono Handoko Rahmadi, Kristian Jati Rahmanta, Mujammil Asdhiyoga Ramadhan, Rifky Daffa Ratih Pujiastuti Reto Ika Sundari, Reto Ika Ridwan Afandi Roni Permana Saputra Rossari, Meydiana Rusnaldy Rusnaldy Sachrul Iswahyudi Saputra, Calvin Darma Saputra, Nandika Aji Sarfilianty Anggiani, Sarfilianty Sari Ayu Wulandari Setiawan, Muhammad Farouk SETYAWAN, YOGA Setyawati, Rosana Budi Simalango, Antonius Simon Dicky Surya Sanjaya Soleh, Mochamad Sugeng Riyanto Sukis, Muhamad Sulardjaka Sulardjaka Sumar Hadi Suryo Supriyo Supriyo Surya, Rizqi Diaz Susilo Adi Widyanto Sutrisno AB, Joko Toriq, Sulthan Totok Apriyanto, Totok Triasdian, Yayak Trismianto, Devout Prakoso Wibowo, Angga Dwi Wijayanto, Ristyan Willy Arafah Willy Arafah, Willy Wusana Agung Wibowo, Wusana Agung Xander Salahudin