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Author : Mayank Jain
Publisher :
ISBN 13 :
Total Pages : 152 pages
Book Rating : 4.:/5 (276 download)
Download or read book Path Planning, Obstacle Avoidance and Trajectory Control of Unmanned Surface Vehicles written by Mayank Jain and published by . This book was released on 2008 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Levent Guvenc
Publisher : John Wiley & Sons
ISBN 13 : 1119747945
Total Pages : 260 pages
Book Rating : 4.1/5 (197 download)
Download or read book Autonomous Road Vehicle Path Planning and Tracking Control written by Levent Guvenc and published by John Wiley & Sons. This book was released on 2021-12-29 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
Author : Umar Zakir Abdul Hamid
Publisher : BoD – Books on Demand
ISBN 13 : 1789239915
Total Pages : 150 pages
Book Rating : 4.7/5 (892 download)
Download or read book Path Planning for Autonomous Vehicle written by Umar Zakir Abdul Hamid and published by BoD – Books on Demand. This book was released on 2019-10-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Author :
Publisher :
ISBN 13 :
Total Pages : 13 pages
Book Rating : 4.:/5 (227 download)
Download or read book Autonomous Navigation and Obstacle Avoidance for Unmanned Surface Vehicles written by and published by . This book was released on 2006 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt: The US Navy and other Department of Defense (DoD) and Department of Homeland Security (DHS) organizations are increasingly interested in the use of unmanned surface vehicles (USVs) for a variety of missions and applications. In order for USVs to fill these roles, they must be capable of a relatively high degree of autonomous navigation. Space and Naval Warfare Systems Center, San Diego is developing core technologies required for robust USV operation in a real-world environment, primarily focusing on autonomous navigation, obstacle avoidance, and path planning.
Author : Laird-Philip Ryan Lewis
Publisher :
ISBN 13 :
Total Pages : 161 pages
Book Rating : 4.:/5 (227 download)
Download or read book Rapid Motion Planning and Autonomous Obstacle Avoidance for Unmanned Vehicles written by Laird-Philip Ryan Lewis and published by . This book was released on 2006 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work introduces the use of optimal control methods for path planning and control of autonomous vehicles in an obstacle-rich environment. Traditional techniques harbor non-optimal, closed architectures primarily derived at a time when computational complexity could significantly hinder overall system performance. Advancements in computing power, miniaturization, and numerical methods permit the utilization of online, optimal path planning and control, thereby improving system flexibility and autonomy. The backbone of this concept is state-of-the-art optimal control techniques involving pseudospectral methods and sequential quadratic programming. Although this research focuses on a robotic car or Unmanned Ground Vehicle (UGV), several systems, including an Unmanned Aerial Vehicle (UAV) and a pendulum on a rotational base, are detailed for the purpose of illustrating the technique's modularity. With respect to the UGV, optimal control methods permit the optimization of maneuver parameters while accounting for complex vehicle kinematics and workspace obstacles, represented as dynamic and path constraints respectively. The path constraints are modeled such that an obstacle of any shape or size can be included. Maneuvering trajectories are first generated in an open-loop architecture, followed by an application of these same techniques in feedback form. Lastly, model fidelity is increased to improve control over vehicle behavior and closed-loop performance and a local knowledge scenario is evaluated.
Author : Jie Ji
Publisher : Morgan & Claypool Publishers
ISBN 13 : 1681739402
Total Pages : 154 pages
Book Rating : 4.6/5 (817 download)
Download or read book Path Planning and Tracking for Vehicle Collision Avoidance in Lateral and Longitudinal Motion Directions written by Jie Ji and published by Morgan & Claypool Publishers. This book was released on 2020-10-09 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, the control of Connected and Automated Vehicles (CAVs) has attracted strong attention for various automotive applications. One of the important features demanded of CAVs is collision avoidance, whether it is a stationary or a moving obstacle. Due to complex traffic conditions and various vehicle dynamics, the collision avoidance system should ensure that the vehicle can avoid collision with other vehicles or obstacles in longitudinal and lateral directions simultaneously. The longitudinal collision avoidance controller can avoid or mitigate vehicle collision accidents effectively via Forward Collision Warning (FCW), Brake Assist System (BAS), and Autonomous Emergency Braking (AEB), which has been commercially applied in many new vehicles launched by automobile enterprises. But in lateral motion direction, it is necessary to determine a flexible collision avoidance path in real time in case of detecting any obstacle. Then, a path-tracking algorithm is designed to assure that the vehicle will follow the predetermined path precisely, while guaranteeing certain comfort and vehicle stability over a wide range of velocities. In recent years, the rapid development of sensor, control, and communication technology has brought both possibilities and challenges to the improvement of vehicle collision avoidance capability, so collision avoidance system still needs to be further studied based on the emerging technologies. In this book, we provide a comprehensive overview of the current collision avoidance strategies for traditional vehicles and CAVs. First, the book introduces some emergency path planning methods that can be applied in global route design and local path generation situations which are the most common scenarios in driving. A comparison is made in the path-planning problem in both timing and performance between the conventional algorithms and emergency methods. In addition, this book introduces and designs an up-to-date path-planning method based on artificial potential field methods for collision avoidance, and verifies the effectiveness of this method in complex road environment. Next, in order to accurately track the predetermined path for collision avoidance, traditional control methods, humanlike control strategies, and intelligent approaches are discussed to solve the path-tracking problem and ensure the vehicle successfully avoids the collisions. In addition, this book designs and applies robust control to solve the path-tracking problem and verify its tracking effect in different scenarios. Finally, this book introduces the basic principles and test methods of AEB system for collision avoidance of a single vehicle. Meanwhile, by taking advantage of data sharing between vehicles based on V2X (vehicle-to-vehicle or vehicle-to-infrastructure) communication, pile-up accidents in longitudinal direction are effectively avoided through cooperative motion control of multiple vehicles.
Author : Rui Song
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (16 download)
Download or read book Path Planning and Collision Avoidance of Unmanned Surface Vehicles in the Marine Environment written by Rui Song and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Adnan Tahirovic
Publisher : Springer Science & Business Media
ISBN 13 : 144715049X
Total Pages : 64 pages
Book Rating : 4.4/5 (471 download)
Download or read book Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning written by Adnan Tahirovic and published by Springer Science & Business Media. This book was released on 2013-04-18 with total page 64 pages. Available in PDF, EPUB and Kindle. Book excerpt: Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include: • how to use an MPC optimization framework for the mobile vehicle navigation approach; • how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and • what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal. The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimization step is continuously repeated to take into account new local sensor measurements. These ongoing changes make the path generated rather robust in comparison with techniques that fix the entire path prior to task execution. In addition to researchers working in MPC, engineers interested in vehicle path planning for a number of purposes: rescued mission in hazardous environments; humanitarian demining; agriculture; and even planetary exploration, will find this SpringerBrief to be instructive and helpful.
Download or read book Comparison of Path Planning Approaches of Autonomous Vehicles for Obstacle Avoidance Application written by and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract : This report investigates path planning and trajectory generation algorithms for the application in autonomous vehicles for obstacle avoidance. A literature review is conducted to select path planning and trajectory generation algorithms that are suitable for the obstacle avoidance application. Two path planning approaches are designed in this work. Approach 1 (RRT*-Spline) uses rapidly exploring random trees* (RRT*) path planning algorithm combined with cubic spline trajectory generation algorithm. Approach 2 (A*-Polynomial Curve) plans a feasible path by using A* algorithm and generates a smooth trajectory using 5th order polynomial curve fitting algorithm. To demonstrate obstacle avoidance of autonomous vehicles, Prescan and Matlab/Simulink are used to build an integrated model consisting of path planning and trajectory generation algorithms, an ego vehicle model, a Model Predictive Control (MPC) controller to control the longitudinal and lateral motion of the ego vehicle, and obstacle avoidance scenarios. Simulation tests are performed to validate the developed algorithms and compare the performances of two approaches for both stationary and moving obstacles. A summary of the performance comparison is provided with respect to the smoothness of the reference path, the smoothness of the reference trajectory, and the ego vehicle steering angle change while it performs an obstacle avoidance task.
Author : Howie Choset
Publisher : MIT Press
ISBN 13 : 9780262033275
Total Pages : 642 pages
Book Rating : 4.0/5 (332 download)
Download or read book Principles of Robot Motion written by Howie Choset and published by MIT Press. This book was released on 2005-05-20 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: A text that makes the mathematical underpinnings of robot motion accessible and relates low-level details of implementation to high-level algorithmic concepts. Robot motion planning has become a major focus of robotics. Research findings can be applied not only to robotics but to planning routes on circuit boards, directing digital actors in computer graphics, robot-assisted surgery and medicine, and in novel areas such as drug design and protein folding. This text reflects the great advances that have taken place in the last ten years, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems. Its presentation makes the mathematical underpinnings of robot motion accessible to students of computer science and engineering, rleating low-level implementation details to high-level algorithmic concepts.
Download or read book Autonomous Vehicle Obstacle Avoidance Maneuvers written by and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract : Full market penetration for autonomous vehicle requires complete solutions for operation during winter driving conditions. This work addresses three key issues relevant to the dynamic response of an autonomous vehicle when faced with reduced friction due to snow and ice on the road when attempting a double lane change obstacle avoidance maneuver. Two low friction scenarios as well as an improvement to simulation methods are presented. The first low friction scenario an autonomous vehicle may encounter is one in which the road surface friction coefficient is incorrectly assumed to be dry pavement. This scenario could occur in the presence of clear ice on the road which is undetectable by the vehicle until it begins traversing the effected area. In this case, the vehicle must react in a way which maintains vehicle control during the maneuver by adapting to the loss of tractive force at the wheels. This work presents a method for altering the look ahead distance of the common pure pursuit lateral control method for autonomous vehicles. This method stabilizes the vehicle during the maneuvers by dynamically changing the look ahead distance based on cross track error in addition to vehicle velocity. Implementation in the autonomous test vehicle used in this work shows an elimination of off-road occurrences during double lane changes on ice and a 46\% reduction of off-read occurrences during single lane changes. The second low friction scenario an autonomous vehicle may encounter is one in which the road surface friction coefficient is known by the autonomous vehicle through it's own perception or through vehicle to vehicle/infrastructure communication. In this case the vehicle must plan it's path accordingly to ensure the vehicle successfully avoids the obstacle while maintaining control and passenger comfort. This work presents an optimization method which results in a minimum maneuver length across a profile of friction surfaces at a single velocity. This work also investigates the lack of correlation between the autonomous test platform operating on an icy surface and a simulation using a constant coefficient for low friction surfaces. The simulation environment used accurately predicts vehicle dynamic response when simulating operation on dry pavement with a divergence in response on friction values below that of packed snow ($\mu=0.3$). On lower friction surfaces the test vehicle exhibits significant variation in response to steering input. This work presents a stochastic method for representing friction surface in simulation across a grid map to bring simulation vehicle position prediction in line with test vehicle behavior on icy surfaces. This method shows a strong correlation between the simulation and test vehicle during rapid double lane changes and is further validation through the application of previously developed control and path planning methods.
Author : Viacheslav Pshikhopov
Publisher : Butterworth-Heinemann
ISBN 13 : 0128123060
Total Pages : 314 pages
Book Rating : 4.1/5 (281 download)
Download or read book Path Planning for Vehicles Operating in Uncertain 2D Environments written by Viacheslav Pshikhopov and published by Butterworth-Heinemann. This book was released on 2017-01-28 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning for Vehicles Operating in Uncertain 2D-environments presents a survey that includes several path planning methods developed using fuzzy logic, grapho-analytical search, neural networks, and neural-like structures, procedures of genetic search, and unstable motion modes. Presents a survey of accounting limitations imposed by vehicle dynamics Proposes modified and new original methods, including neural networking, grapho-analytical, and nature-inspired Gives tools for a novice researcher to select a method that would suit their needs or help to synthesize new hybrid methods
Author : Sheng Zhu (Mechanical engineer)
Publisher :
ISBN 13 :
Total Pages : 198 pages
Book Rating : 4.:/5 (132 download)
Download or read book Path Planning and Robust Control of Autonomous Vehicles written by Sheng Zhu (Mechanical engineer) and published by . This book was released on 2020 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous driving is gaining popularity in research interest and industry investment over the last decade, due to its potential to increase driving safety to avoid driver errors which account for over 90% of all motor vehicle crashes. It could also help to improve public mobility especially for the disabled, and to boost the productivity due to enlarged traffic capacity and accelerated traffic flows. The path planning and following control, as the two essential modules for autonomous driving, still face critical challenges in implementations in a dynamically changing driving environment. For the local path/trajectory planning, multifold requirements need to be satisfied including reactivity to avoid collision with other objects, smooth curvature variation for passenger comfort, feasibility in terms of vehicle control, and the computation efficiency for real-time implementations. The feedback control is required afterward to accurately follow the planned path or trajectory by deciding appropriate actuator inputs, and favors smooth control variations to avoid sudden jerks. The control may also subject to instability or performance deterioration due to continuously changing operating conditions along with the model uncertainties. The dissertation contributes by raising the framework of path planning and control to address these challenges. Local on-road path planning methods from two-dimensional (2D) geometric path to the model-based state trajectory is explored. The latter one is emphasized due to its advantages in considering the vehicle model, state and control constraints to ensure dynamic feasibility. The real-time simulation is made possible with the adoption of control parameterization and lookup tables to reduce computation cost, with scenarios showing its smooth planning and the reactivity in collision avoidance with other traffic agents. The dissertation also explores both robust gain-scheduling law and model predictive control (MPC) for path following. The parameter-space approach is introduced in the former with validated robust performance under the uncertainty of vehicle load, speed and tire saturation parameter through hardware-in-the-loop and vehicle experiments. The focus is also put on improving the safety of the intended functionality (SOTIF) to account for the potential risks caused by lack of situational awareness in the absence of a system failure. Such safety hazards include the functional inability to comprehend the situation and the insufficient robustness to diverse conditions. The dissertation enhanced the SOTIF with parameter estimation through sensor fusion to increase the vehicle situational awareness of its internal and external conditions, such as the road friction coefficient. The estimated road friction coefficient helps in planning a dynamically feasible trajectory under adverse road condition. The integration of vehicle stability control with autonomous driving functions is also explored in the case that the road friction coefficient estimation is not responsive due to insufficiency in time and excitations.
Download or read book MPC-BASED AUTONOMOUS DRIVING CONTROL WITH LOCALIZED PATH PLANNING FOR OBSTACLE AVOIDANCE AND NAVIGATING SIGNALIZED INTERSECTIONS written by and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract : Connected and autonomous vehicles are becoming the major focus of research for the industry and academia in the automotive field. Many companies and research groups have demonstrated the advantages and the requirement of such technology to improve the energy efficiency of vehicles, decrease the number of crash and road accidents, and control emissions. This research delves into improving the autonomy of self-driving vehicles by implementing localized path planning algorithms to introduce motion control for obstacle avoidance during uncertainties. Lateral path planning is implemented using the A* algorithm combined with piecewise Bezier curve generation which provides an optimum trajectory reference to avoid a collision. Model Predictive Control (MPC) is used to implement longitudinal and lateral control of the vehicle. The data from vehicle-to-everything (V2X) communication infrastructure is used to navigate through multiple signalized intersections. Furthermore, a new method of developing Advanced Driver Assistance Systems (ADAS) algorithms and vehicle controllers using Model-In-the-Loop (MIL) testing is explored with the use of PreScan®. With PreScan®, various traffic scenarios are modeled and the sensor data are simulated by using physics-based sensor models, which are fed to the controller for data processing and motion planning. Obstacle detection and collision avoidance are demonstrated using the presented MPC controller. The results of the proposed controller and the scope of the future work conclude the research.
Author : Agnieszka Lazarowska
Publisher : Springer Nature
ISBN 13 : 3030977153
Total Pages : 192 pages
Book Rating : 4.0/5 (39 download)
Download or read book Safe Trajectory Planning for Maritime Surface Ships written by Agnieszka Lazarowska and published by Springer Nature. This book was released on 2022-03-25 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a comprehensive review of collision avoidance techniques and safe trajectory planning for manned and unmanned ships, together with extensive information on how to develop and implement algorithms for applications in real-world settings. It describes the most relevant decision-support systems and guidance systems used in the control of marine craft, giving a special emphasis to autonomous vehicles, but also covering manned ones. Thanks to its good balance of theory and practice, and the inclusion of basic explanations of all essential concepts, this book fills an important gap in the literature of marine navigation, providing not only researchers and practitioners with a timely reference guide to safe trajectory planning, but also supporting students and newcomers to the field.
Author : Vishwamithra Reddy Sunkara
Publisher :
ISBN 13 :
Total Pages : 168 pages
Book Rating : 4.:/5 (19 download)
Download or read book Motion Planning and Control of Autonomous Vehicles Using Collision and Rendezvous Cones written by Vishwamithra Reddy Sunkara and published by . This book was released on 2018 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation uses the notion of collision cones and rendezvous cones to address several motion planning problems for autonomous vehicles. Collision avoidance is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse elds including robotics, air vehicles, underwater vehicles and computer animation. In the rendezvous problem, generating appropriate trajectories to achieve overlap of footprints of unmanned aerial vehicles is important in problems related to search and surveillance, and for establishing communication between a network of UAVs, or between a user and a base station in remote areas. In the collision avoidance problem, much of the collision avoidance literature assumes shapes of the objects as circles. However, when objects are operating in closer proximity, or when objects are elongated and/or have non-convex shapes, a less conservative approach, that considers the exact shapes of the objects, is more desirable. This dissertation presents analytical collision avoidance laws in cooperative and non-cooperative dynamic environments. The collision avoidance laws are simulated on Ionic Polymer-Metal Composite (IPMC) actuated robotic sh. Collision cones are also used to analyze pursuit evasion games between two objects of arbitrary shapes. Collision avoidance of objects that can deform by changing their shape as a function of time is also presented. The rendezvous problem requires communication/sensing footprints of vehicles to overlap. The need of the footprints to overlap is dictated by the requirement that no part of the sensed area is left uncovered in a search and surveillance operation; or by the need to position a relay UAV in the overlap region of two distant UAVs in order to enable them to communicate with each other. The concept of a rendezvous cone is used as the basis for the development of nonlinear analytical guidance laws that enable the overlap of footprints to the requisite depth.
Author : Sanjay Sharma
Publisher : Institution of Engineering and Technology
ISBN 13 : 1785613383
Total Pages : 348 pages
Book Rating : 4.7/5 (856 download)
Download or read book Navigation and Control of Autonomous Marine Vehicles written by Sanjay Sharma and published by Institution of Engineering and Technology. This book was released on 2019-06-26 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.
