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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
Unlike other path planning approaches, our method exploits curbs and other sweepable regions, which a bus must often sweep over in order to manage certain maneuvers.  ...  Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle.  ...  CONCLUSIONS We present a novel path planning framework targeted for buses driving in urban environments.  ... 
arXiv:1905.01683v1 fatcat:n6ayqclplvgn5mjbu3irdrdvem

Decision-Making Technology for Autonomous Vehicles Learning-Based Methods, Applications and Future Outlook [article]

Qi Liu, Xueyuan Li, Shihua Yuan, Zirui Li
2021 arXiv   pre-print
Finally, promising research topics in the future study of decision-making technology for autonomous vehicles are prospected.  ...  In addition, applications of decision-making methods in existing autonomous vehicles are summarized.  ...  Path planning can be divided into global path planning and local path planning, and decision-making process mainly considers the results of local path planning in the current environment.  ... 
arXiv:2107.01110v1 fatcat:ohffatmrmfbzdlihgvywryzupa

TiEV: The Tongji Intelligent Electric Vehicle in the Intelligent Vehicle Future Challenge of China [article]

Junqiao Zhao, Chen Ye, Yan Wu, Linting Guan, Lewen Cai, Lu Sun, Tao Yang, Xudong He, Jun Li, Yongchao Ding, Xinglian Zhang, Xinchen Wang (+6 others)
2018 arXiv   pre-print
We devised the software system of TiEV from scratch, which is capable of driving the vehicle autonomously in urban paths as well as on fast express roads.  ...  TiEV is an autonomous driving platform implemented by Tongji University of China. The vehicle is drive-by-wire and is fully powered by electricity.  ...  Trajectory planning -The 2 nd planning TiEV introduces a unified planning module for both the structured and unstructured driving environment.  ... 
arXiv:1804.06210v2 fatcat:f2zpxts7rzcbxkzkiyfntt6vaa

CHIMP, the CMU Highly Intelligent Mobile Platform

Anthony Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, G. Clark Haynes, David Stager, Brian Zajac, J. Andrew Bagnell, Jordan Brindza, Christopher Dellin, Michael George, Jose Gonzalez-Mora (+18 others)
2015 Journal of Field Robotics  
We have developed the CHIMP (CMU Highly Intelligent Mobile Platform) robot as a platform for executing complex tasks in dangerous, degraded, human-engineered environments.  ...  CHIMP has a near-human form factor, work-envelope, strength, and dexterity to work effectively in these environments.  ...  Each drive joint features an internal slip ring that passes a shared dc bus for power and a CAN-bus for communication and control.  ... 
doi:10.1002/rob.21569 fatcat:gmnhwzrn4feqzn6eoec4snlyn4

An Integrated Framework of Decision Making and Motion Planning for Autonomous Vehicles Considering Social Behaviors [article]

Peng Hang, Chen Lv, Chao Huang, Jiacheng Cai, Zhongxu Hu, Yang Xing
2020 arXiv   pre-print
Besides, potential field is adopted in the motion planning model, which uses different potential functions to describe surrounding vehicles with different behaviors and road constrains.  ...  This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic  ...  According to the result of decision making and the driving styles of obstacle vehicles, motion planner will decide the optimal velocity and path within constrains for AV.  ... 
arXiv:2005.11059v1 fatcat:datibkzvqjhthjdcdymkichv4q

Enable an Open Software Defined Mobility Ecosystem through VEC-OF [article]

Sanchu Han, Yong He, Yin Ding
2020 arXiv   pre-print
its production and service model, use efficient and collaborative ways of vehicles, roads, cloud and network to continuously improve core technologies such as autonomous driving, provide MaaS operators  ...  MaaS) as the entry point, upgrade its E/E (Electric and Electronic) architecture to be C/C (Computing and Communication) architecture, build one open software defined and data driven software platform for  ...  Here are two typical cases to drive the need for DHCF: 1) Deep reinforcement learning has been extremely successful in games, and it's treated as one type of promising algorithms for AV path planning.  ... 
arXiv:2007.03879v1 fatcat:6qdigvdaznd7db47omnbfdnigi

Path Planning for Autonomous Platoon Formation

Ouafae El Ganaoui-Mourlan, Stephane Camp, Thomas Hannagan, Vaibhav Arora, Martin De Neuville, Vaios Andreas Kousournas
2021 Sustainability  
A notable aspect is the use of Model Predictive Control (MPC) optimization of the planned path, in conjunction with a variant of the Rapidly-exploring Random Trees (RRT*) algorithm for the purpose of platoon  ...  In the context of automated highway systems (AHS), this work proposes an approach that enables a vehicle to autonomously join a platoon with optimized trajectory in the presence of dynamical traffic obstacles  ...  methodology of finding paths for platooning on highways, which represents a constrained environment in terms of the space of possible actions for a given vehicle.  ... 
doi:10.3390/su13094668 doaj:ae0260feb1584f88aa064edfb4c45d17 fatcat:uja5lgnbcjdilo266kvfiiwmhu

A Standard Driven Software Architecture for Fully Autonomous Vehicles

Alex Serban, Erik Poll, Joost Visser
2020 Journal of Automotive Software Engineering  
In this paper we introduce a functional software architecture for fully autonomous vehicles aimed to standardise and ease the development process.  ...  Existing literature presents past experiments with autonomous driving or implementations specific to limited domains (e.g. winning a competition).  ...  A proliferation of competitions in constrained or unconstrained environments resulted in different designs of autonomous vehicles.  ... 
doi:10.2991/jase.d.200212.001 fatcat:niyhnwrzlfa7dhrigktgu2hv7m

Automating agricultural vehicles

Victor Callaghan, Paul Chernett, Martin Colley, Tony Lawson, John Standeven, Malcolm Carr‐West, Malcolm Ragget
1997 Industrial robot  
In some cases machines may be able to operate entirely autonomously without operator intervention.  ...  The vehicle will be used to explore ways of increasing the productivity of expensive agricultural mobile machinery by a) taking over some of the tasks of the operator allowing him to drive faster or for  ...  in a real-time environment.  ... 
doi:10.1108/01439919710177164 fatcat:dvdv45dcyjfzfh52xhxlchk2u4

Path-following control of autonomous ground vehicles using triple-step model predictive control

Yulei Wang, Hongyu Zheng, Changfu Zong, Hongyan Guo, Hong Chen
2020 Science China Information Sciences  
These highly nonlinear and strong coupling dynamics under complex driving environments pose challenges to the controller design and parameter tuning.  ...  A novel triple-step approach-based MPC (TS-MPC) scheme is developed for AGVs, to solve a constrained path-following control problem.  ... 
doi:10.1007/s11432-018-9790-3 fatcat:m7h7blmhzrc2zpwed6vssprgry

Scanning the Issue

Azim Eskandarian
2021 IEEE transactions on intelligent transportation systems (Print)  
For each branch, the hot research direction and dimension shown as sub-branches are represented by reviewing the highly cited and the latest literature.  ...  In a follow-the-leader two-bus system, bus-to-bus communication allows the driver of the following bus to observe (from a remote distance) the position and speed of the leading bus.  ...  The path planning subsystem can not only adjust the safety and length of the path planned, but also continuously re-plan the path according to the motion information of the USV formation and target-vessels  ... 
doi:10.1109/tits.2021.3073191 fatcat:t2v7w23rmjex7eluksr46yo4v4

Systems for Safety and Autonomous Behavior in Cars: The DARPA Grand Challenge Experience

U. Ozguner, C. Stiller, K. Redmill
2007 Proceedings of the IEEE  
| In this paper, we review technologies for autonomous ground vehicles and their present capabilities in research and in the automotive market.  ...  Finite-state machines are formulated to generate rule-based autonomous behavior that enables fully autonomous off-road driving.  ...  The only need was for lowlevel path planning.  ... 
doi:10.1109/jproc.2006.888394 fatcat:3dank4mrhvhjxb5xrz2c2rhgvm

A study on al-based approaches for high-level decision making in highway autonomous driving

Laurene Claussmann, Marc Revilloud, Sebastien Glaser, Dominique Gruyer
2017 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  
For these levels, autonomous expectations rely not only on low level path planning, but also on high-level decision based on reasoning and learning [2] .  ...  THE HIGH-LEVEL DECISION MAKING CONSIDERATIONS FOR HIGHWAY DRIVING The decision making function of a system is highly dependent on its environment, objectives and constraints.  ... 
doi:10.1109/smc.2017.8123203 dblp:conf/smc/ClaussmannRGG17 fatcat:tnoaklgawzdlvhu6vaxxeh27cu

Towards Autonomous Planetary Exploration

Martin J. Schuster, Sebastian G. Brunner, Kristin Bussmann, Stefan Büttner, Andreas Dömel, Matthias Hellerer, Hannah Lehner, Peter Lehner, Oliver Porges, Josef Reill, Sebastian Riedel, Mallikarjuna Vayugundla (+12 others)
2017 Journal of Intelligent and Robotic Systems  
environments, autonomous exploration and mapping as well as computer vision, planning and control modules for the autonomous localization, pickup and assembly of objects with its manipulator.  ...  Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors and actuators.  ...  Alin Albu-Schäffer for their support and many valuable discussions. We thank the anonymous reviewers for their insightful comments and suggestions.  ... 
doi:10.1007/s10846-017-0680-9 fatcat:aed6gzqy3zec3cob5223pelexi

NimbRo Explorer: Semiautonomous Exploration and Mobile Manipulation in Rough Terrain

Jörg Stückler, Max Schwarz, Mark Schadler, Angeliki Topalidou-Kyniazopoulou, Sven Behnke
2015 Journal of Field Robotics  
Fully autonomous exploration and mobile manipulation in rough terrain are still beyond the state of the art-robotics challenges and competitions are held to facilitate and benchmark research in this direction  ...  We developed manipulation capabilities for object retrieval and pick-and-place tasks. Many parts of the mission can be performed autonomously.  ...  We present an integrated system for obstacle-avoiding driving, SLAM, and path planning in rough terrain.  ... 
doi:10.1002/rob.21592 fatcat:zk3ysojlgrf3xgk7svjrgsdoxy
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