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An improved fast simultaneous localization and mapping (FastSLAM) algorithm based on the strong tracking square root central difference Kalman filter (STSRCDKF) with adaptive partial systematic resampling is proposed in this paper to solve the large-scale simultaneous localization and mapping (SLAM) problem for unmanned intelligent vehicle. In the proposed algorithm, STSRCDKF is composed of a strong...
An effective path tracking control algorithm with speed adjustment is proposed. Traditional algorithms only use kinematic characteristics and take no consideration of dynamic restrains. Besides, most of the earlier studies on steering control assume that the longitudinal speed is constant, which is not reasonable. In this paper, we use an improved CLA with a PID controller for tight path tracking,...
In order to complete the task of vehicle's autonomous driving in structural road, it's necessary to detect obstacles. This paper proposed a method of obstacle detection, taking use of the four-line laser radar. This algorithm combined the improved DBSCAN with K-Means and overcame DBSCAN's defect that it couldn't divide obstacles with similar density. At the same time, this method can eliminate noise...
To solve the problem of urban congestion, various vehicles management technology have been developed vigorously, such as the parking management system development is relatively mature, also using of the varied technology. This paper focuses on edge detection which are based on the static image preprocessing. Edge detection makes use of Roberts operator mostly, and the operator has been improved in-depth...
Through the analysis of the behavior of mandatory lane changing and selectivity lane changing, this paper researches the effects of capacity of urban intersection, delays and the probability of rear-end collision resulting from the lane-changing behavior. The models of capacity, delay time and probability of rear-end collision are established respectively, and simulated delay is evaluated based on...
According to the defects of the GPS vehicle monitor system in the present market,a high concurrent and real-time GPS vehicle monitoring system is proposed. The entre system is based on a three-layer framework:the terminals,the interim database server,and the monitoring workstation. The monitor workstation is based on the MAPX platform,and the database server communicates with terminals through GPRS...
The collection vehicle routing problems with intermediate facilities (CVRP-IF) is actually belong to a well-known generalization of VRP, the Multi-Depot Vehicle Routing Problem with Inter-Depot Routes (MDVRPI), which is a combinatorial optimization problem and holds a central place in reverse logistics management, such as waste collection management. This paper presents an improved multiple ant colony...
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