Actor Model Approach to Control Stability of an Articulated Vehicle

被引：0
|
作者：
Warwas, Kornel [1 ]
Augustynek, Krzysztof [1 ]
机构：
[1] Univ Bielsko Biala, Dept Comp Sci & Automat, Bielsko Biala, Poland
来源：
INFORMATION SYSTEMS ARCHITECTURE AND TECHNOLOGY - ISAT 2016 - PT III | 2017年 / 523卷
关键词：
Actor model; Genetic algorithm; Parallel computing; Dynamic optimisation; Articulated vehicle; OPTIMIZATION;
D O I：
10.1007/978-3-319-46589-0_4
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper presents an application of actor model to control braking torques on wheels of an articulated vehicle in an untripped rollover manoeuvre. The numerical model of the articulated vehicle and dynamic optimisation have been used to calculate appropriate braking torques for each wheel in order to restore stability. The optimisation problem requires the equations of motion to be integrated at each optimisation step and its time-consuming. Therefore, parallel computing with using actor model system has been proposed. Actor model system has been implemented in genetic algorithm. In the paper, formulation of genetic algorithm with actor system and results obtained from dynamic optimisation have been presented and compared.
引用
收藏
页码：41 / 51
页数：11
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