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Inter-vehicle separation measurement is crucial for intelligent vehicle system, in particular the autonomous vehicle. The measurement results can be used for regulating a safe inter-vehicle distance when an autonomous vehicle is trailing behind a leading vehicle. Furthermore, the measurement results can also be used for planning a safe path for over taking another vehicle by the autonomous vehicle...
A virtual flexible curved bar coupled with force delay algorithm is proposed for automatic vehicle following, aiming at improving the accuracy of vehicle trajectory tracking, especially when leader vehicle is accelerating or making turns. A virtual flexible curved bar with force delay has been modeled that connects the leader to the follower. The length of this virtual bar is a function of the turning...
This paper presents a new intuitive method for robot tool path teaching in Augmented Reality (AR) environment. Conventional industrial robot teaching method is long known to be either tedious or require a highly accurate virtual representation of robot work cell. Our method targets to provide the user with a fast and easy way of programming an industrial robot for useful tasks in a safe environment...
Fusion of information from multiple sensors can greatly enhance the performance of human-machine interaction, especially in the intuitive robot programming. The methods aim to allow rapid teaching of robotic tasks in a safe and efficient manner. The techniques can reduce the setup time of a robotic system. This is crucial for SMEs (Small and Medium Enterprise) where the products in the manufacturing...
Vehicle following can be achieved by minimizing the relative information (Kullback-Leibler or K-L distance), between the estimated poses of leader and follower vehicles by formulating the vehicle following system as an optimization problem. The aim is to search for an optimal control action for the follower vehicle in the admissible control command space. Relative information is used as a metric in...
Although numerous researches on s-curve motion profiles have been carried out, up to date, no systematic investigation on the general model of polynomial s-curve motion profiles is considered. In this paper, the model of polynomial s-curve motion profiles is generalized in a recursive form. Based on that, a general algorithm to design s-curve trajectory with jerk bounded and time-optimal consideration...
Vehicle following can be achieved by minimizing the relative information (Kullback-Leibler or K-L distance), between the estimated poses of leader and follower vehicles. To achieve successful vehicle following, a Bayesian formulation for the system has been derived, and two probabilistic distributions, one for each vehicle's pose, can be obtained. Based on the assumption that the two pose distributions...
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