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In this paper, we present two novel guidance laws for an unmanned aerial vehicle (UAV) equipped with a fixed camera to track a mobile ground target. The system dynamics is established in the level local coordinate frame, removing the need of converting the target location information to the global inertial frame. The first guidance law is developed using backstepping technique requiring the estimation...
Using multiple robots to form artificial swarms and using methods of self-organization to carry out collective cooperation to fulfill complex tasks are hotspots in researches of robotic control. Artificial swarms with the advantages of distribution, flexibility, robustness, autonomy and so on, will be the main approach to accomplish the complex tasks, such as distributed wireless network, distributed...
Cars cruising for parking adds a non negligible amount to traffic congestion and CO2 pollution. Hence, good parking management policies are required to reduce such discomfort. In this paper, we address this problem from two sides. First, we consider how local parking authorities called parking coordinators (PC) can optimize the distribution of the slots they manage through a full cooperation between...
The puff (or the pollutant puff) represents an instantaneous pollution cloud released in the ambient atmosphere. This paper describes, and validates a complete dynamic data driven application system (DDDAS) for measuring and simulating a puff in a dynamic, urban environment. Unmanned aerial vehicles (UAVs) are used as mobile sensors to collect data from the concentration field which is then assimilated...
Various sustainability scenarios visualize images of a sustainable society. For example, the IPCC's scenario aims to describe images of a low-carbon society. These sustainability scenarios often suppose introducing new technologies (e.g., electric vehicles (EVs)) to reduce energy consumption and greenhouse gas emissions. However, the depletion risks of metals are not evaluated in those scenarios....
With the development of intelligent transportation systems, more and more attention was paid to the study of VANETs. A reasonable node mobility model is very important to evaluating the authenticity of various VANETs protocols. In this paper, a mobility model based on real map was proposed for VANETs to overcome the disadvantages of existing models. The new model can show vehicles' movement scenario...
Mobility models or the movement patterns of nodes communicating wirelessely, play a vital role in the simulation-based evaluation of vehicular Ad Hoc Networks (VANETs). Even though recent research has developed models that better corresponds to real world mobility, we still have a limited understanding of the level of the required level of mobility details for modeling and simulating VANETs. In this...
Due to the pervasive deployments of mobile communication technologies, vehicle positioning and tracking by locating the driver's mobile phones has become feasible. However, no single positioning method can provide decent tradeoff between accuracy and coverage. To address this issue, we propose a Kalman filter-based hybrid method which can track the mobile phones traveling on-board vehicles. The proposed...
There are 3 planar DOF of omnidirectional motion device. The kinematic model is analysed according to the construction of Mecanum wheel in this paper, generalized inverse motion equation of steering is derived. Then virtual prototyping model is built by dynamic software RecurDyn, several typical steering motion is simulated and validated, which settles the basis of further research on motion control...
When many cellular users take high capacity transit (HCT), a group of mobile terminals (MTs) may have to initiate handoffs and location updates more or less at the same time, which will cause congestion on the random access control channel (RACH), leading to many handoff and location update failures. To overcome this problem, we propose a new scheme, called GHA/RALU (Group Handoff Avoidance/Rate Adjusted...
This paper presents a novel navigation and motion planning algorithm for mobile vehicles in rough terrains. The main purpose of the algorithm is to generate feasible trajectories while selecting smoother paths, in the sense of level of roughness, toward the goal position. The purpose is achieved by adapting the passivity-based model predictive control optimization setup (PB/MPC), recently proposed...
This paper presents a novel approach of using visual odometry for the self-localization of a maneuverable mobile robot configuration. This system is predominantly adapted to mobile robots that require autonomous positioning information at a low computation cost for real time applications. This system uses an over-head camera that captures images of the maneuvering mobile robot with two non-natural...
A novel artificial-potential approach is presented for planning the minimum-exposure paths of multiple vehicles in a dynamic environment containing multiple mobile sensors, and multiple fixed obstacles. This approach presents several advantages over existing techniques, such as the ability of computing multiple minimum-exposure paths online, while avoiding mutual collisions, as well as collisions...
The next project is a two-dimensional positioning system of a vehicle. It is based on the usage of infrared sensors to detect and map the obstacles around it and thus to store in system memory a map of the surrounding area. For this purpose, working with the variables angle and distance is needed and to acquire the required information from these , a number of infrared sensors which are above the...
Inter-vehicle communication (IVC) network has become an important topic in research for its potential advantages in enhancing traffic security and efficiency. This paper investigates the communication performance of IVC networks in two lane bidirectional traffic streams. By changing the transmission range of communication units and penetration rate of equipped vehicles, we studied several performance...
A vehicle area network (VAN) is a local area network deployed onboard a moving vehicle, e.g., a train, bus, or a private car, to provide high-speed Internet access to the passengers. A VAN may face temporary network disconnection when the vehicle passes through challenging radio environments, e.g., deep tunnels. Such disconnections disrupt the ongoing network services causing passenger dissatisfaction...
With the widespread usage of mobile phones primarily due to their reduced costs, they are now not only being used for communication but can also assist law enforcing agencies to keep track of speeding vehicles or can be used by organizations to keep track of its employees. The three ways of tracking which are primarily in use are (a) via GPS (b) Using signal attenuation property of a packet and (c)Using...
A new modeling methodology that enables represent the urban traffic system (UTS) dynamic entities using a multi-agent event oriented approach is presented. The methodology uses an enhanced n-Level net system (n-LNS) formalism of Petri nets. The first level describes the traffic network and UTS static and dynamic information objects; the second level describes the general entity behavior (activity...
The paper addresses autonomous motion control (path-following in particular) of an articulated-frame-steering (AFS) hydraulically actuated mobile machine. We first propose a kinematic model of the vehicle, together with a simple model for steering hydraulic actuator. The kinematic model is derived under simplifying assumptions that there are no slipping and no skidding. The accuracy of the model is...
The FCC has set apart a frequency band with the specific goal of improving safety and efficiency of the transportation system. Its purpose is to provide wireless communications between stations on the roadside and mobile radio units located on board of vehicles. The resulting technology is known as WAVE and is currently under development as draft standard IEEE 802.1 lp. The most time- critical messages,...
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