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This paper presents a new hybrid control approach for vision-based navigation applied to autonomous robotic automobiles in urban environments. It is composed by a visual servoing (VS) for road lane following (as deliberative control) and a dynamic window approach (DWA) for obstacle avoidance (as reactive control). Typically, VS applications do not change the velocities to stop the robot in dangerous...
This paper presents a local navigation strategy with obstacle avoidance applied to autonomous robotic automobiles in urban environments, based on the validation of a Visual Servoing controller in a Dynamic Window Approach. Typically, Visual Servoing applications do not consider velocity changes to stop the robot in danger situations or avoid obstacles, while performing the navigation task. However,...
This paper presents the approach of an applicable safety driving methodology for human drivers with focus on human-vehicle interaction. The approach is based on Dynamic Window Approach (DWA) in co-operation with perception of the obstacles. The human driving behaviors are modelled for the design of controller, refined by referential paths using evasive trajectory model, where linear and angular velocities...
This paper presents the approach of an applicable safety driving methodology for human drivers based on Dynamic Window Approach (DWA), as an implementation of Advanced Driving Assist Systems (ADASs). The human driving behaviors are modelled for the design of controller, refined by referential paths using evasive trajectory model, and the linear and angular velocities are limited and corrected by DWA...
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