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The world has recently witnessed a great tendency towards rapid urban development. This has been accompanied by an increase in the population and a development in the uses of the land, which changes the reality of transport and increases its problems over time. The city of Mansour suffers from traffic jams in certain parts of its road network due to the increase in population and the shift in the...
The deployment of Intelligent Transportation Systems (ITS) is a challenge for industry and scientific community. Traffic characteristics change widely within a single day, therefore, ITS engineers and researchers must deal with that dynamic behavior. On the other hand, once the ITS depends on networking services, specific studies are required to consider the communication parameters along with vehicle...
Automated ground vehicles are becoming a reality for future deployment due to their potential improvement of safety, comfort or emission reductions. However, some challenges remain unsolved such as navigation in dynamic urban environments, where safety and comfort are paramount. In this paper, a novel speed profile generator, based on quintic Bézier curves, is presented. This approach permits to improve...
This article presents a path planning concept for automated driving. It builds upon existing approaches using quintic polynomials for path planning in structured environments. The contribution of this work are analytical solutions to evaluate selected properties of quintic polynomial based paths such as maximum acceleration and jerk or overshooting behavior. In addition, a concept for generating asymmetrical...
This paper presents a planning model for distribution systems considering various energy supply options such as distributed generation (DG), substations, and feeders. In addition, the impact of Plug-in-Electric Vehicle (PEV) uncontrolled and smart charging loads on the plan outcome is evaluated. A new optimal power flow (OPF) based optimization model is proposed to schedule PEV uncontrolled and smart...
Reversing with a dolly steered trailer configuration is a hard task for any driver without extensive training. In this work we present a motion planning and control framework that can be used to automatically plan and execute complicated manoeuvres. The unstable dynamics of the reversing general 2-trailer configuration with off-axle hitching is first stabilised by an LQ-controller and then a pure...
Automated driving is a safety critical process, which requires complex decision making. In order to validate driving decisions, it is possible to maintain at all times a contingency maneuver, which transfers the vehicle to a safe standstill, if other decision making processes fail. In this paper we present a motion planner, which computes contingency maneuvers for an automated vehicle in a 0.1[s]...
This paper presents a robust motion planning methodology for autonomous tracked vehicles navigating in a rough and unknown environment. Two fields of study are dealt with in this paper: motion planning and slip estimation. For the motion planner, the CC-RRT* algorithm is combined with LQG-MP. The motion planner uses a chance-constrained approach and considers the role of compensator in the planning...
Route planning system of smart vehicles based on monocular vision could be applied to monitor the production line in industrial field. This system has achieved much functionality including image processing, monocular vision range finding, virtual map generating, global route planning and obstacle avoiding, etc. In this paper, we present an optimized ant colony algorithm based on ground colors and...
In this paper, an under development mixed-integer programming model is presented and used to solve the Production-Inventory-Distribution-Routing Problem (PIDRP), the main objective is to minimize the total cost of production, inventory, and transportation without violating the demand fulfillment policy. The proposed model deals with multiple products with different characteristics, split deliveries,...
The booming development of Internet and E-business world widely has caused an enormous effect on the conduct of global business in fundamental ways. Fresh food commerce, a traditional way of providing things for people's daily lives, has been endowed great implication under the environment of Internet and E-business. Fresh food E-commerce shrinks distances, eliminates intermediaries, and brings about...
This paper builds on a concept in our previous work that humans achieve efficient organization of guidance behavior by employing a hierarchical architecture that unifies planning, perceptual guidance and motor control. Human guidance behavior can be described as a motion planning problem subject to agent-environment constraints and constraints imposed by human biophysical limitations. This paper presents...
Large cities face growing mobility problems, due to the major traffic jams that result from high numbers of vehicles on the roads. In response, city and national governments have invested in alternative means of urban passenger transit, such as subways, trains, as well as Bus Rapid Transit (BRT). This article aims to analyze the BRT system, by attempting to calculate the probability of reaching a...
This paper is devoted to a centralized mission planner for a group of marine robots. Mission is considered consisting of straight line segments (usually called tacks). The planner takes segments spatial configuration into account and solves a problem similar to the Multiple Travelling Salesman Problem (MTSP) in order to assign a sequence of segments to each vehicle. The contribution of this paper...
In this paper we describe a distributed, information theoretic motion planning strategy for multi-agent target detection. Agents assimilate measurements into a likelihood-ratio tracker, which provides a probability distribution for potential target locations. Information from other agents is fused with the local agents’ probability density using an Information Weighted Consensus Filter when in communication...
The number of applications for automated ground vehicles has been rapidly increasing. Examples include autonomous mining trucks, tractors, military target vehicles, and durability testing of passenger vehicles. It is convenient to construct desired paths out of tangentially connected circular arc and straight line segments, which have been shown to be optimal in terms of path length. Unfortunately,...
This paper proposes a two-stage integer programming model including depots to distribution centers and distribution centers to demand points. Hundreds of thousands of people lost their lives in disaster recently. Since to predict the timing and magnitude of a disaster is difficult, the resource requirement is with randomness. Besides, information asymmetry exists in the two stages, so the demand may...
In this paper, we address the problem of motion planning for an autonomous grain cart. Contrary to prevailing practices in farming wherein one grain cart is allocated to each combine harvester, we envision a scenario in which one grain cart can serve multiple combine harvesters. This gives rise to challenging problems in scheduling and motion planning for the grain cart. In this work, we initially...
Conventional motion planners for wheeled vehicles often assume no-slipping and no-skidding conditions and construct motion trajectories in the context of nonholonomic motion planning. However, in some practical situations slipping and skidding cannot be ignored or can even be useful. To take them into account in the construction of planning algorithms, it is important to model the friction force between...
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