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This paper represents a non-cooperative trajectory-planning algorithm for vehicles with consideration of drivers' characteristics. The driver-vehicle model considering driver's different characteristics is applied to formulate a vehicle to vehicle (V2V) encountering system. The non-cooperative control algorithm is employed to plan collision-free trajectories for these encountering vehicles with initial...
We present a motion planning algorithm for autonomous aggressive vehicle maneuvers. The motion planner takes advantages of the sparse stable trees (SST), the RRT* algorithm and the model predictive control (MPC) design. The use of the sparsity property helps to reduce the computational burden of the RRT* method by removing non-useful nodes in each iteration (i.e., rewiring) and therefore to quickly...
When the autonomous vehicle is running in complex unstructured road and the reference path to guide the vehicle could not be obtained directly, at this time, only sparse task list point left as the reference information. To generate a safe and smooth path in this situation for autonomous vehicle to run, we propose an improved heuristic graph search path planning algorithm to solve the problem by considering...
Path planning technology is one of the important problems in intelligent robot. Firstly, based on the characteristics of intelligent mowing robot and traditional circuitous path planning algorithm, a new "p-d" circuitous path planning algorithm was proposed in the rectangular work region, which solves the problem of the best mowing coverage. Then the geographic coordinate system was transformed...
In this paper, we study the curvature-constrained path planning problem for AUV docking in stationary obstacle environment. Expanded obstacle circles are used to redefine the polygonal obstacles, thus the curvature constraint is incorporated into the path planning algorithm. Unlike the existing algorithms that try to avoid the obstacles when the planning path collides with them, the novel algorithm...
Aiming at the problem that the consistency between load capacity and the actual traffic volume, the road grade analysis in urban traffic network. Propose the improved GROCC algorithm based on the traditional Dijkstra algorithm. It is a global path planning method based on real-time traffic information. In this algorithm, the parameter, the number of recommended times are used as an important factor...
With the development of automated logistics systems, flexible manufacture systems (FMS) and unmanned automated factories, the application of automated guided vehicle (AGV) gradually become more important to improve production efficiency and logistics automatism for enterprises. The development of the AGV systems play an important role in reducing labor cost, improving working conditions, unifying...
Over the years, various path planning problems have been brought up and addressed. For example, shortest path first algorithm is usually adopted to search for the best route between a source and a destination for packet transmission over a network. In that case, we add up the distance of every segment along each of the available routes and choose the one with the least value. Path planning problems...
The vehicle delay serves as effective criteria for evaluating and optimizing the level of service of intersections in traffic. Various methods based on analytical models, simulations, or sensors like GPS have been proposed for estimating vehicle delay. However, the absence of large scale fine-grained GPS data limits its wide application. Taking advantages of available coarse-grained trajectories of...
In this paper we propose an algorithm for decentralized control of Automated Guided Vehicles (AGVs) operating in automated warehouse environments. The motion planning part of the algorithm provides vehicles with capabilities for autonomous motion planning considering nonholonomic vehicle constraints and collision-free path execution. The decision making part of the algorithm ensures safe vehicle motions...
The deployment of efficient roadside networks is a necessity for ITS deployment. The main challenge for the roadside deployment is to find a satisfying or best distribution of RSUs on the roads network according to the given conditions in order to meet the requested requirements of the roads operator. Additionally, various factors affect this process such as traffic, infrastructure and topological...
Recently, Honda Eco Mileage Challenge, which is one of the most important contests in the world to encourage high-efficient car and environmental protection, mainly has been attracted by the communities of mechanism engineering, control system, vehicle engineering and computer science, etc. Generally speaking, the final score of HEMC contest is mainly related to the number of the firing in the whole...
This paper introduces the implementation process of intelligent vehicle path planning, including the establishment of environmental models, path search algorithm, as well as the visualization of digital map. Firstly, the article introduces the path planning and several algorithms; secondly, the A * algorithm is described, as well as the representation of environment model; thirdly, the article introduces...
In this paper, we present an improved RRT-based motion planner for autonomous vehicles to effectively navigate in cluttered environments with narrow passages. The planner first presents X-test that can identify passable narrow passages, and then perform an efficient obstacles-based extension operation within passable narrow passages. In order to generate a smooth trajectory for the vehicle to execute,...
This paper considers the stochastic version of the location-routing problem (SLRP) in which transportation cost and vehicle travel speeds are both stochastic. A hybrid solution procedure based on Ant Colony Optimization (ACO) and Discrete-Event Simulation (DES) is proposed. After using a sequential heuristic algorithm to solve the location subproblem, ACO is employed to solve the corresponding vehicle...
In this paper, the comparison of three predominant algorithms of trajectory planning for unmanned aerial vehicles (UAV) was presented, based on the compared results, a new planar and three dimensional trajectory planning architecture and related algorithms were proposed. Furthermore, the simulation scheme was constructed under the MATLAB environment. The simulation results verified the feasibility...
An approach of 3D path planning for AUV on the basis of virtual terrain and thread map is proposed. The virtual terrain is constructed to predigest the 3D search space, transforming the 3D path planning to 2D path planning. Then, the thread map is made for unification of hostile threat and terrain. To obtain standout expansibility, an improved A∗ algorithm based on circle searching is applied for...
The presented paper introduces a new procedure, based on well-known Lee's algorithm, for vehicle collisionless path determination in dynamically-changing environments. Such routes need to be updated on-the-fly to take into account moving obstacles or newly detected objects. The main idea of the proposed approach is to first, identify regions where environment has changed and to execute a procedure...
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.
We present a goal-directed 3D reactive obstacle avoidance algorithm specifically designed for Rotorcraft Unmanned Aerial Vehicles (RUAVs) that fly point-to-point type trajectories. The algorithm detects potential collisions within a cylindrical Safety Volume projected ahead of the UAV. This is done in a 3D occupancy map representation of the environment. An expanding elliptical search is performed...
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