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The goal of the work in this paper is to use occupancy grid in integrating safety distances with the planning strategy for autonomous vehicle navigation. The challenge is to avoid static and dynamic obstacles at high speed with respect to some specific road rules while following a global reference trajectory. Our local trajectory planning algorithm is based on the method of clothoid tentacles. It...
Mobile multi-machine environments consist of varying types of objects, either static or dynamic with the state known exactly or with some uncertainty. Sensors observe the environment from different positions and views, such as horizontally from the top of a mobile machine or vertically downward from an external observing machine. In this paper, we propose a simple grid-based framework for representing...
In this paper we propose a novel algorithm for the dynamic routing of a group of Autonomous Guided Vehicles (AGVs) used for transporting goods in automatic warehouses. Our strategy allows to improve the efficiency of a fleet of AGVs in terms of delivery time and its computational burden is sufficiently small to be embedded in standard industrial traffic management system. The algorithm is validated...
This paper proposes a method called Segmentation-adaptive Pseudospectral collocation to address the problem of safe trajectory generation in missions with cooperating multiple aerial vehicles. Pseudospectral collocation can generate optimized collision-free trajectories, but for multiple aerial vehicles it cannot guarantee that the safety separation distance is maintained in the whole trajectories,...
This paper proposes a method based on a Legendre pseudospectral collocation to generate trajectories in scenarios with multiple aerial vehicles in order to avoid collisions. The method uses a rolling horizon policy in which collision-free trajectories are planned up to a given time horizon, thus considering a much smaller problem space. Then, the system is applied iteratively. Using this approach,...
In this paper, a motion planning algorithm based on differential flatness for an autonomous vehicle driving in a structured environment with moving obstacles is presented. A descriptions of the structured environment and definitions of safety and availability of the lane are proposed. In order to ensure that the trajectory is feasible and effective, dynamic longitudinal and lateral acceleration constraints...
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