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The paper at hand proposes a real-time capable approach to combined trajectory planning and control. One single prediction model is used to plan a feasible trajectory and to perform lateral guidance of the vehicle at the same time. Nonlinear model predictive control (NMPC) methods are applied to solve the optimal control problem, which incorporates environmental constraints leading to a model predictive...
A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and Control (CPC) algorithm extends the Timed Elastic Band (TEB) approach...
The motors or engines of an autonomous ground vehicles (AGV) have torque and power limitations, which limit their abilities to climb steep hills, which are defined to be hills that have high grade sections in which the vehicle is forced to decelerate. Traversal of a steep hill requires the vehicle to have sufficient momentum before entering the hill. This problem is part of a larger class of momentum-based...
This paper is focused on the Dynamic Vehicle Routing Problem with Time Windows (DVRPTW) in the context of real-time traffic information. The travel times are based on a time-dependent model in which the travel speeds are step functions. This model is enriched with an exponential smoothing function able to calculate the forecasted speed. This new model of travel times is used by on-line genetic algorithm...
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