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This paper describes a novel navigation and guidance (NG) system designed to address the issue of receiving unreliable navigational data considering an unmanned surface vehicles (USVs). In the NG system, a confidence rate determination method has been designed to identify the uncertainty of the acquired data. According to the confidence rate, the risks from inaccurate data can be properly analysed...
Number of vehicles on road is very important traffic data and is essential for transportation safety and management. In this paper, an approach for vehicle detection is presented. In this approach, virtual line based sensors which are just straight detection lines are first set on road lanes. Then two features, namely gradient and range feature, are proposed for vehicle detection. This is carried...
There has been an increasing interest in the development of unmanned surface vehicles (USVs) in recent decades. As USVs are required to carry out complex missions without any human intervention in various environments, an intelligent path planning algorithm is critical. A path planning algorithm is able to utilise environment data to calculate an optimal trajectory to guarantee safety. To achieve...
This paper describes a modified fast marching (FM) path planning algorithm for unmanned surface vehicles (USVs). The modified FM algorithm generates a two-layered synthetic vector field to represent a dynamic environment. The synthetic vector field integrates the obstacle information and the environment information, where current and wind velocities vary in both magnitude and direction. The path planning...
This paper presents a road occupancy rate based fuzzy logic for the control of transit vehicle at freeway ramp. The fuzzy logic, which has been applied broadly in urban intersection signal control, is used for transit vehicle control at Freeway Ramp in this paper. Different from the traditional measure which adjusts signal cycle by lengthening or shortening the green-time, we propose a red-time regulation...
Lateral locomotion control is a key technology for intelligent vehicle and ITS, and is significant to vehicle active safety. Firstly, the vehicle lateral locomotion mathematic model with constraints was given and the active disturbance rejection control(ADRC) was introduced briefly. Then the model was transformed to series format and the vehicle lateral locomotion system was expressed as a series...
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