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Optimization-Based On-Road Path Planning for Articulated Vehicles [article]

Rui Oliveira, Oskar Ljungqvist, Pedro F. Lima, Bo Wahlberg
2020 arXiv   pre-print
In this work, an optimization-based path-planning algorithm is proposed targeting on-road driving scenarios for articulated vehicles composed of a tractor and a trailer.  ...  Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver.  ...  CONCLUSION We have proposed an optimization-based on-road path planner for tractor-trailer combinations, as well as articulated buses, driving in urban environments.  ... 
arXiv:2001.06827v2 fatcat:c4mvillb7jfv5mbo3tdsdzxf3u

A Geometric Approach to On-road Motion Planning for Long and Multi-Body Heavy-Duty Vehicles [article]

Rui Oliveira, Oskar Ljungqvist, Pedro F. Lima, Jonas Mårtensson, Bo Wahlberg
2020 arXiv   pre-print
However, recent works have started to tackle the particular difficulties related to on-road motion planning for buses and tractor-trailer vehicles using numerical optimization approaches.  ...  Most research on motion planning for autonomous vehicles has focused on passenger vehicles, and many unique challenges associated with heavy-duty vehicles remain open.  ...  We then formulate the on-road path planning problem as an optimal control problem.  ... 
arXiv:2010.07133v2 fatcat:r5zwm2u5rba35l3lb36yavy47q

Online Dynamic Smooth Path Planning for an Articulated Vehicle

Thaker Nayl, George Nikolakopoulos, Thomas Gustafsson
2013 Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics  
This article proposes a novel online dynamic smooth path planning scheme based on a bug like modified path planning algorithm for an articulated vehicle under limited and sensory reconstructed surrounding  ...  the current and the goal points, and the geometry of the operational space are taken under consideration to calculate the update on the future way points for the articulated vehicle.  ...  Path planning in an arena having boundaries on both sides of the road a fact that restricts the articulated vehicle motions.  ... 
doi:10.5220/0004438301770183 dblp:conf/icinco/NaylNG13 fatcat:dffirbwcrjfltf7gur4ehntrmi

Lane-change path planning and control method for self-driving articulated trucks

Tao Peng, Xingliang Liu, Rui Fang, Ronghui Zhang, Yanwei Pang, Tao Wang, Yike Tong
2020 Journal of Intelligent and Connected Vehicles  
Originality/value This is a fundamental research of intelligent local path planning and automatic control for articulated vehicles.  ...  Design/methodology/approach The authors proposed a novel safety lane-change path planning and tracking control method for articulated vehicles.  ...  Pang Y.W. and Tong Y.K. and also Professor Wang J.Q. from School of Vehicle and Mobility in Tsinghua University for valuable discussions to improve the quality and presentation of this paper.  ... 
doi:10.1108/jicv-10-2019-0013 fatcat:lfo3ctcxhbfmteaivdg6qc7ura

Path Planning for Autonomous Articulated Vehicle Based on Improved Goal-Directed Rapid-Exploring Random Tree

Tong Xu, Yang Xu, Dong Wang, Siwei Chen, Weigong Zhang, Lihang Feng
2020 Mathematical Problems in Engineering  
search a feasible path on maps that require the AAV to move back and forth.  ...  The special steering characteristics and task complexity of autonomous articulated vehicle (AAV) make it often require multiple forward and backward movements during autonomous driving.  ...  Many graph-based search algorithms have been proposed for global static path planning.  ... 
doi:10.1155/2020/7123164 fatcat:jxx3czohzbdybhiedpsp5psqke

Path Planning and Trajectory Tracking Strategy of Autonomous Vehicles

Peng Han, Bingyu Zhang, Haipeng Peng
2021 Mathematical Problems in Engineering  
A new kind of modern public transportation vehicle named Multi-Articulated Guided Vehicle based on Virtual Track (MAAV-VT) with the advantages of beautiful, smart energy conservation and environmental  ...  The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory  ...  Zhang Weihua who also provided a lot of technical support of this work. is work was supported by the Fundamental Research Funds for the Central Universities (3122018C035).  ... 
doi:10.1155/2021/8865737 fatcat:yf5rh56k5zb5lnfwjems2grubm

Path Planning for Autonomous Bus Driving in Urban Environments [article]

Rui Oliveira, Pedro F. Lima, Gonçalo Collares Pereira, Jonas Mårtensson, Bo Wahlberg
2019 arXiv   pre-print
The approach is formulated as an optimization problem using the road-aligned vehicle model.  ...  The road-aligned frame introduces a distortion on the vehicle body and obstacles, motivating the development of novel approximations that capture this distortion.  ...  Furthermore it is capable of dealing with highly constrained scenarios, where the bus can barely Vehicle Body Wheelbase Road limits Obstacle Road center Planned path Fig. 7 : Planned path on a road with  ... 
arXiv:1905.01683v1 fatcat:n6ayqclplvgn5mjbu3irdrdvem

A New Trajectory Tracking Algorithm for Autonomous Vehicles Based on Model Predictive Control

Zhejun Huang, Huiyun Li, Wenfei Li, Jia Liu, Chao Huang, Zhiheng Yang, Wenqi Fang
2021 Sensors  
Trajectory tracking is a key technology for precisely controlling autonomous vehicles. In this paper, we propose a trajectory-tracking method based on model predictive control.  ...  To meet the real-time requirement, a constraint is imposed on the control law and the warm-start technique is employed. The MPC-based controller is proved to be stable.  ...  Acknowledgments: The authors would like to thank for support from National Natural Science Foundation of China and the China Postdoctoral Science Foundation.  ... 
doi:10.3390/s21217165 pmid:34770470 pmcid:PMC8587769 fatcat:r6ixtfqd4raxrf6ogqotnjppde

Are Self-Driving Vehicles Ready to Launch? An Insight into Steering Control in Autonomous Self-Driving Vehicles

Marya Rasib, Muhammad Atif Butt, Shehzad Khalid, Samia Abid, Faisal Raiz, Sohail Jabbar, Kijun Han, Mehmet Cunkas
2021 Mathematical Problems in Engineering  
vehicles while performing driving tasks in a dynamic road environment is still a challenging task.  ...  Based on the analysis, key challenges/research gaps in existing steering control methods along with the possible solutions have been briefly discussed to improve the effectiveness of the steering system  ...  An optimal path planning technique based on MPC has been used in the design of the kinematic controller [106] .  ... 
doi:10.1155/2021/6639169 fatcat:btneip645ra4denpv2trdddnui

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

Thaker Nayl, George Nikolakopoulos, Thomas Gustafsson
2015 Robotics and Autonomous Systems  
The aim of this article is to analyze the effect of kinematic parameters on a novel proposed on-line motion planning algorithm for an articulated vehicle based on Model Predictive Control.  ...  The proposed modified path planning algorithm for the articulated vehicle belongs to the family of Bug-Like algorithms and is able to take under consideration, the mechanical and physical constraints of  ...  a novel proposed on-line motion planning algorithm for an articulated vehicle based on Model Predictive Control Figure 18 : 18 Figure 18: Indicative On-line path planning in a geographically bounded  ... 
doi:10.1016/j.robot.2015.04.005 fatcat:uzeejuajfjh4bn4oxpzvcvycue

Control Strategies on Path Tracking for Autonomous Vehicle: state of the art and future challenges

Qiangqiang Yao, Ying Tian, Quan Wang, Shengyuan Wang
2020 IEEE Access  
Reference [51] proposed a MPC path tracking control method for mining articulated vehicle based on preview distance.  ...  Filipe Marques Barbosa et al. proposed a path tracking control strategy based on robust linear quadratic programming optimization control for autonomous heavy truck vehicle to deal with uncertain load,  ... 
doi:10.1109/access.2020.3020075 fatcat:tk4yn57y2fag3pzgvnvmgkksoi

A Novel Path Planning Algorithm for Truck Platooning Using V2V Communication

Yongki Lee, Taewon Ahn, Chanhwa Lee, Sangjun Kim, Kihong Park
2020 Sensors  
The path planning algorithm of this paper was validated by simulations on severe driving scenarios and by tests on an actual road.  ...  In this paper, in order to solve these problems, a path planning algorithm for platooning of articulated cargo trucks has been developed.  ...  Furthermore, since the target path is generated based on the trajectory of the preceding vehicle using V2V communication, it can be applied even on an unpaved road without a lane.  ... 
doi:10.3390/s20247022 pmid:33302467 fatcat:t6j6bzjf3rbq5iqvgffr2bhpbm

Team Gator Nation's Autonomous Vehicle Development for the 2007 DARPA Urban Challenge

Carl Crane, David Armstrong, Antonio Arroyo, Antoin Baker, Doug Dankel, Greg Garcia, Nicholas Johnson, Jaesang Lee, Shannon Ridgeway, Eric Schwartz, Eric Thorn, Steve Velat (+2 others)
2007 Journal of Aerospace Computing Information and Communication  
The architecture is implemented on a system distributed over ten dual-core computers that intercommunicate via the Joint Architecture for Unmanned Systems (JAUS) version 3.2 protocol.  ...  This framework provides a means for situation assessment, behavior mode evaluation, and behavior selection and execution.  ...  Traditional approaches, such as for example vision processing algorithms to identify lane markings in an image, are modified as needed and integrated into the system.  ... 
doi:10.2514/1.33342 fatcat:syeqb7yhlfgexgeatr2whkt5lm

Planning Collision-Free Trajectories for Reversing Multiply-Articulated Vehicles

Amy J. Rimmer, David Cebon
2016 IEEE transactions on intelligent transportation systems (Print)  
a global path-planning strategy is proposed which defines the geometric path of the rear trailer axle of a multiply-articulated vehicle travelling in reverse.  ...  This is intended for use in conjunction with a path-tracking reversing controller.  ...  In order to fit with the global path-planning strategy, a vehicle model that could predict the vehicle positions based on the geometric path of the rear trailer was devised.  ... 
doi:10.1109/tits.2015.2511880 fatcat:ax7m2r6l7jf5zisgih34uqnr7y

A H-Infinity Control for Path Tracking with Fuzzy Hyperbolic Tangent Model

Guangsi Shi, Jue Yang, Xuan Zhao, Yanfeng Li, Yalun Zhao, Jian Li
2016 Journal of Control Science and Engineering  
To achieve the goal of driver-less underground mining truck, a fuzzy hyperbolic tangent model is established for path tracking on an underground articulated mining truck.  ...  The method is demonstrated to be effective and reliable in path tracking for the underground vehicles.  ...  the Central Universities, FRF-TP-16-004A1, research on path-planning and path-following algorithm for underground mining vehicles based on reinforcement learning.  ... 
doi:10.1155/2016/9072831 fatcat:b7bb7rmrardjlbrjvstiwuvb5y
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