Conference article

Enhanced Motion Control of a Self-Driving Vehicle Using Modelica, FMI and ROS

Nikolas Schröder
Institute of Flight Mechanics and Control, University of Stuttgart, Germany

Oliver Lenord
Robert Bosch GmbH, Germany

Ralph Lange
Robert Bosch GmbH, Germany

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Published in: Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019

Linköping Electronic Conference Proceedings 157:45, p. 10

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Published: 2019-02-01

ISBN: 978-91-7685-122-7

ISSN: 1650-3686 (print), 1650-3740 (online)


This paper presents a new planar wheel model with bore friction, a control strategy to avoid locking conditions of floor vehicles with caster wheels, and the new FMIAdapter software package, which connects the Functional Mock-up Interface (FMI) standard with the Robot Operating System (ROS). It is demonstrated how this technology enables a convenient model-based control design workflow. The approach is applied to the ActiveShuttle, a self-driving vehicle (SDV) for industrial logistics. After modeling the wheel friction characteristics of the ActiveShuttle, a feed forward controller to avoid high friction torques at the caster wheels in critical operation scenarios is designed and validated by model-in-the-loop simulations. The control function is exported as Functional Mock-up Unit (FMU) for co-simulation. With help of the FMI-Adapter package, the FMU is integrated as ROS node into the service-oriented robot control architecture, enhancing the existing motion controller. The functionality and performance is tested and successfully verified on the ActiveShuttle Dev Kit prototype.


Modelica, FMI, ROS, Autonomous Systems, Robotics, Model-based Control, SDV, Caster Wheels


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