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A driver assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize the turning performance and realize the collision avoidance simultaneously under the constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for...
The paper deals with linear and nonlinear feedback control for a half-car model including Spencer model of the magnetorheological damper. The vehicle model was subjected to sinusoidal road excitation corresponding to a rough road of class F and selected according to the ISO 8608. All control schemes were assessed using a quality index closely related to the ride comfort and evaluated based on an averaged...
The vehicle braking force distribution of front and rear axles affects its safety directly. In order to enhance the braking safety, the changes of brake strength are considered in this paper, and an optimization algorithm for braking force distribution is designed. The method is the variable ratio method, and it can change the braking force distribution rate of front and rear axles according to the...
The yaw stabilization in distributed-motor drive electric vehicles is usually based on hierarchical control structure, namely an upper-level motion following controller and a lower-level control allocation scheme. The existing strongly coupling property of tire forces gives rise to extreme difficulty in solving the control allocation problem for its nonlinearities in the moment/effector relationships,...
This paper presents flocking control algorithm for a group of Autonomous Underwater Vehicles (AUVs). A leader-follower flocking where, some AUVs are chosen as leaders which have global knowledge of desired track and other AUVs are chosen as followers which have only sensory capability to find the positions of neighbor AUVs without any global knowledge of desired path. The leader AUVs are desired to...
In this paper a new electromagnetism-like mechanism is proposed for combinatorial optimization of capacitated vehicle routing problem. electromagnetism-like mechanism is a new metaheuristic method and inspired by the attraction and repulsion mechanism of the electromagnetism theory. we propose a new electromagnetism-like mechanism that it includes a new distance measure between solutions and new effective...
Based on analyzing vehicle path planning space representation, polygon is used for expressing obstacles. Geometry Algorithm is introduced for path planning. Although the final path is not the best route, it is accordance with human vision. Simulation result proves that the algorithm has better practicability.
Electric Vehicles (EVs) are gaining acceptance with consumers and manufactures as a viable alternative to petroleum based transportation. Vehicle-to-Grid (V2G) has been proposed as a way to aid in EV adoption by providing additional financial benefits to consumers and by reducing impacts on the power grid. An important factor in studying EV and V2G system impacts is the efficiency of the electric...
The use of truck-and-trailer systems is an attractive solution to boost the load carrying capacity of land transportation vehicles. However, the steering of such system is problematic due to the lack of sufficient degree-of-freedoms in the available control. The difficulty further increases when obstacles are encountered in the working space. Here, the virtual-robot tracking strategy and force field...
Sparse signal representations and approximations from overcomplete dictionaries have become an invaluable tool recently. In this paper, we develop a new, heuristic, graph-structured, sparse signal representation algorithm for overcomplete dictionaries that can be decomposed into subdictionaries and whose dictionary elements can be arranged in a hierarchy. Around this algorithm, we construct a methodology...
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