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A Stochastic Control Strategy for Safely Driving a Powered Wheelchair

Teodorescu, C; Zhang, B; Carlson, T; (2020) A Stochastic Control Strategy for Safely Driving a Powered Wheelchair. In: IFAC-PapersOnLine. (pp. pp. 10148-10153). Elsevier: Berlin, Germany. Green open access

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Abstract

In this paper we deal with model-based control design in the presence of uncertainties. We use Stochastic Dynamic Programming to solve two problems, called longitudinal and lateral vehicle control. The goal is to allow safe driving (navigation) of a moving vehicle in an environment with static obstacles. We show how to define the optimization problems given the stochastic driver behavior and environment. The vehicle dynamics model is deterministic (obeys physical laws) and is explicitly integrated into the optimization problem. In terms of results, the numerically computed control policies provide best-on-average performance (according to the expected value operator). In simulation, it is shown that the vehicle effectively avoids obstacles, thus ensuring a safe drive experience.

Type: Proceedings paper
Title: A Stochastic Control Strategy for Safely Driving a Powered Wheelchair
Event: 21st IFAC World Congress
Location: Berlin, Germany
Dates: 12 July 2020 - 17 July 2020
Open access status: An open access version is available from UCL Discovery
DOI: 10.1016/j.ifacol.2020.12.2741
Publisher version: https://doi.org/10.1016/j.ifacol.2020.12.2741
Language: English
Additional information: © 2020 The Authors. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0)
Keywords: stochastic dynamic programming, inventory control, model-based control, velocity control, robot navigation, robot dynamics, electric vehicles, vehicle dynamics
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Chemical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10093939
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