Nankai University International E-Forum on Artificial Intelligence and Robotics


l 2022年7月5日(周二) zoom会议964 2904 5648


报告时间:2022年7月5日(周二)03:30~05:00 p.m.

报告嘉宾Professor Maciej M. Michalek, Poznan University of Technology 

zoom964 2904 5648 密码:975471

报告题目Kinematic Modeling and Control Design for Automated Articulated Vehicles

报告摘要:Current development trends in the freight and public transportation lead to the so-called Large Capacity Vehicles, which in most practical applications become articulated structures. Maneuvering with multi-articulated vehicles is especially difficult, burdening, and can be even dangerous, also for experienced human-drivers. Although most of the people intuitively agrees with the challenging nature of articulated vehicles, the actual origins of this nature is not so clear for many. During the lecture we will address this problem by explaining and discussing numerous interesting kinematic properties of articulated mobile structures, which all can mix together in a single vehicle making it difficult to control. On the other hand, such a big control difficulty observed in so practical problem may be very inspiring and fascinating for control researchers looking for a feedback controller to help the drivers execute agile maneuvers with long articulated vehicles. We will address the control design problem by introducing a cascade-like modular feedback control system, which enables agile automated maneuvering with vehicles comprising an arbitrarily number of segments. It will be shown how the cascade-like control system can be modified and applied as a supporting tool for the drivers of electric buses as a part of the advanced driver assistance system (ADAS) to help executing precise maneuvering in the public transportation tasks. The lecture will be illustrated by selected simulation and experimental results obtained in a laboratory scale and in-field conditions.


Maciej M. Michalek received the Ph.D. and D.Sc. (habilitation) degrees in the field of automatic control and robotics from the Poznan University of Technology (PUT), Poland, in years 2006 and 2015, respectively. He is currently an Academic Professor of PUT in the Institute of Automatic Control and Robotics, where he serves as a deputy director for scientific affairs. His current research interests concern modeling, control design, and control applications in the area of dynamical systems, nonholonomic systems, mobile robots, articulated vehicles, N-trailer structures, and intelligent/automated vehicles. He is a Senior Member of IEEE and the Chair of the Polish Chapter of IEEE Robotics & Automation Society (in cadence 2022-2023). Currently he is a member of the Conference Editorial Board for IEEE Control Systems Society, an Editorial Board Member of the Journal of Intelligent & Robotic Systems, and an Associate Editor for the Journal of the Franklin Institute.