Article Per Year (5 Year)
p-Index From 2020 - 2025
0.23
P-Index
This Author published in this journals
All Journal Mechatronics, Electrical Power, and Vehicular Technology
Pratama, Rakha Rahmadani
Unknown Affiliation
Electrical & Electronics Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
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 Baskoro, Catur Hilman Adritya Haryo Bhakti Dyah Kusuma Dewi Joga Dharma Setiawan Mochammad Ariyanto Paryanto Paryanto Roni Permana Saputra