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The control of car following is essential to its safety and its operational efficiency. For this purpose, this paper builds a linear, continuous and time-delay model of car following. And then, presents a controller based on an adaptive network fuzzy inference system (ANFIS) for the car-following collision avoidance system to adaptively control the speed of the vehicle. The relative distance and relative...
Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer. The method realizes long-term objectives such as velocity...
This paper discusses vision-based avoidance of obstacles with unknown sizes and unknown constant velocities for four-wheel nonholonomic robots. The robot is equipped with an inertial measurement unit that provides measurements of the robot's position and velocity, and a monocular camera that detects the obstacles. An analytical scheme is adopted for trajectory generation and vehicle control. Vision...
This paper is about preservation of physical integrity of mobile robot for real outdoor applications encountered in agricultural field. Unlike other approaches that try to detect and to avoid obstacle, we consider the allowable speed grid. This grid depends on the vehicle capabilities, its dynamic constraints, its speed and the 3D rendering of the environment. We made a dynamic study to estimate the...
In this paper, a dynamic obstacle avoidance strategy for mobile robots is proposed. The strategy consists of two key elements: an on-line reference generator and a control scheme to make the robot track the reference signals so as to reach a pre-specified goal point. To generate the online reference signals, a harmonic potential field for dynamic environments is exploited. The potential field is modified...
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