On NMPC-based Rollover Avoidance Methods for Semi-Autonomous Forest Machines

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A4 Artikkeli konferenssijulkaisussa
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Date

2024-10-01

Department

Department of Electrical Engineering and Automation

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Mcode

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Language

en

Pages

6

Series

IFAC-PapersOnLine, Volume 58, issue 28, pp. 318-323

Abstract

The objective is to establish autonomy for the forest machine chain, which includes a harvester and a forwarder. In this study, we focus on building models and methodologies for autonomous forwarder operations. Rollover of autonomous forwarders owing to uneven terrain is a possible danger that must be identified and prevented during real-time forest harvesting. For a system model, a high-fidelity (augmented 6-DOF) vehicle model is proposed, which incorporates a 3D map of the terrain. A hybrid (reduced-order) vehicle model is proposed for the nonlinear model-predictive control (NMPC) method, which is employed for 3D path tracking while accounting for the local height variations to predict and prevent vehicle rollover. Furthermore, the aided-height odometry approach is employed to generate a reference 3D path that the autonomous forwarder can follow. A MATLAB-based high-fidelity simulation platform is developed, consisting of the identified 6-DOF vehicle model, actuator models, and 3D map of the terrain for evaluating the hybrid model-based NMPC method. The effectiveness of the two models is then shown using vehicle dynamics simulations to evaluate NMPC-based path tracking and roll predictions.

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Publisher Copyright: © 2024 The Authors.

Keywords

Autonomous off-road vehicles, nonlinear model predictive control, path tracking, rollover avoidance, simulation, vehicle modeling

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DOI

10.1016/j.ifacol.2025.01.014

Citation

Badar, T, Knuutinen, J, Backman, J & Visala, A 2024, 'On NMPC-based Rollover Avoidance Methods for Semi-Autonomous Forest Machines', IFAC-PapersOnLine, vol. 58, no. 28, pp. 318-323. https://doi.org/10.1016/j.ifacol.2025.01.014

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https://urn.fi/URN:NBN:fi:aalto-202503042709

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[article-cris] Sähkötekniikan korkeakoulu / ELEC