Optimized Energy Efficient Path Planning for an EV under dynamic constraints

With the advent of robotics, a major focus has shifted to the autonomous movement of cyber physical systems, e.g., B. UAV, USV, UGV, etc. While focusing on your autonomous movement, the underlying limitations are usually not explored in detail. We tried to develop a control strategy that optimizes t

Project Title

Optimized Energy Efficient Path Planning for an EV under dynamic constraints

Project Area of Specialization

Robotics

Project Summary

With the advent of robotics, a major focus has shifted to the autonomous movement of cyber physical systems, e.g., B. UAV, USV, UGV, etc. While focusing on your autonomous movement, the underlying limitations are usually not explored in detail. We tried to develop a control strategy that optimizes the route driven while minimizing dynamic constraints such as battery, oil consumption, engine consumption, etc. Such work has the advantage of being applicable in real-time systems and not just academic activities for research purposes. This will translate our problem into a multi-objective problem where the optimization of the distance travelled is achieved together with the parameters mentioned above.

First, the non-linear control-oriented model is built, which includes the track following model, the single-track vehicle model, and the magic formula tire model. To easily handle stability constraints, the model predictive control (MPC) technique is applied to the path following problem. Here the MPC control problem is reasonably set with the constraints of vehicle sideslip angle, yaw rate, steering angle, lateral position error and Lyapunov stability. To reduce the on-line computational load, the generalized minimum remainder/continuation algorithm (C/GMRES) is adopted. Dead zone penalty functions are used to handle inequality constraints and maintain the smoothness of the solution. Also, this article uses a variable prediction duration to quickly get a good initial solution using a numerical algorithm. Finally, simulation validations are performed showing that the proposed strategy can achieve the desired path following and vehicle stability effectiveness while greatly reducing the computational load compared to the controllers MPC using an active set algorithm or an inner point algorithm.

Project Objectives

• Firstly, the main objective of our group is to design a prototype for a driver-less vehicle. Now, as it is a driver-less vehicle, it will involve a certain level of automation etc Level 3 automation. This level includes the longitudinal (acceleration and deceleration) and lateral (left and right movement) control and OEDR (Object and Event Detection and Response)

• Secondly, Now as it is a self-driving vehivle, it will also need to maneuver through different roads, hence different paths will be provided. The map will be a predefined one. And in that map, the car will try to reach its destination with the most efficient path available. The car will be deciding the path itself based on the distance.

• Thirdly, due to limited resources, as this is a prototype hence it will be smaller than a regular vehicle and it will be powered through DC motor.

Project Implementation Method

For the implementation process, we have first thought of reviewing the extensive literature available on autonomous robots. I, personally have gone through several coursera courses just to get an idea of the project. A very famous course on self-driving cars is available on coursera by university of toronto. After that we studied different papers from different sites to get into further depth .After that when we started hardware, we purchased different architecture from different vendors. Which includes Arduino, Raspberry pi etc. And for the final optimization part we are looking at the options available to us.

Benefits of the Project

1. 90% reduction in traffic deaths.

2. 500% increase in lane capacity. 

3. Consumer savings of £5bn.

4. Electric vehicles save you money

5. Electric vehicles cut your emissions

6. Electric vehicles offer you a better driving experience

7. Electric vehicles cut your oil use

8. Electric vehicles are convenient

Technical Details of Final Deliverable

We have thought to deliver our project in both hardware and in software form. For the software part we have tuned MPC to control the lateral vehicle control under dynamic constraints

Moreover, a hardware will also be delivered which will be a prototype for an Autonomous EV.

Final Deliverable of the Project

HW/SW integrated system

Core Industry

Transportation

Other Industries

IT , Energy

Core Technology

Robotics

Other Technologies

Sustainable Development Goals

Good Health and Well-Being for People, Affordable and Clean Energy, Industry, Innovation and Infrastructure, Climate Action

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com