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Electric vehicles (EVs) play a significant role in the current transportation systems. The main factor that affects the acceptance of existing EV models is the range anxiety problem caused by limited charging stations and long recharge times. Recently, the solar-powered EV has drawn many attentions due to being free of charging limitations. However, the solarpowered EVs may still struggle with the...
Hereby an optimal travel path planning and real time forecasting method based on ant colony optimization (ACO) algorithm was proposed. The travel path node network model is established according to the starting position and the destination, and then the shortest time or shortest path planning initial program can be obtained. The optimal travel path is calculated quickly by ACO with the real time traffic...
Here we propose a simplified model for the path planning of an Autonomous Underwater Vehicle (AUV) in an horizontal plane when ocean currents are considered. The model includes kinematic equations and a simple dynamic equation. Our problem of interest is a minimum time problem with state constraints where the control appears linearly. This problem is solved numerically using the direct method. We...
This paper presents a methodology and a concept behind the autonomous navigation which can be used in field robots. Long distance navigation in an outdoor environment is a challenging task owing to floor profile variations and slipping problem. The concept is based on SLAM (Simultaneous Localization and Mapping) GMapping algorithm with particle filter approach in mapping process and AMCL (Adaptive...
This paper describes a real-time capable online path planning on roads and its experimental investigation for the highly maneuverable robotic electric vehicle research platform ROboMObil. The path planning algorithm is based on an efficiently solvable and compact optimization problem and contributes to the autonomous driving of centralized controlled vehicles. The necessary development from a global...
For on-road autonomous driving, path planner needs to generate a target path which is not only safe and smooth, but also stable under uncertainty propagated from sensing such as localization error and perception error. In this paper, we propose a path planning method which generates a target path in two steps: reference path planning and local path planning. The reference path planner keeps stability...
This paper examines a mission planning problem for a solar-powered unmanned ground vehicle (UGV) which requires the vehicle to visit a series of objective points in minimal time subject to a strict net-energy change constraint. Though related to the Traveling Salesperson Problem, the mission planning problem discussed herein imposes further complexity through additional coupled mixed-variable sets...
Vehicle Routing System (VRS) is one of the famous hard problems in the world and several extensions of the VRS were developed for many scenarios. Many researches have been done to create a general solution appropriate to several scenarios with limited feedback. Further, the existing proposed solutions are based on static scenarios where the best route are created using existing data and all data are...
The paper describes the control system development of a novel hybrid autonomous vehicle - Aqua-Quad, a Multi-Rotor Vertical Take Off and Landing aircraft with environmentally hardened electronics, exchangeable sensor suite, communication links, and a solar recharge system. The key objective of this multi-modal autonomous system is to enable energy-aware ultra-long endurance autonomy to facilitate...
This paper describes a novel navigation and guidance (NG) system designed to address the issue of receiving unreliable navigational data considering an unmanned surface vehicles (USVs). In the NG system, a confidence rate determination method has been designed to identify the uncertainty of the acquired data. According to the confidence rate, the risks from inaccurate data can be properly analysed...
This paper discusses the application of ‘optimal search,’ an optimization framework developed by the US Navy to optimize sonar-based search and rescue operations, to marine mapping tasks. In contrast to path planning methods which focus on maximizing area coverage, optimal search seeks to directly optimize expected sensor performance over a region, through consideration of vehicle dynamics, sensor...
Autonomous underwater vehicles (AUVs) are cost- and time-effective platforms for mapping and monitoring of aquatic environments. Previous works have shown the benefits of using informative adaptive sampling approaches for field estimation over running standard surveys. We are interested in extending these works into decentralized multi-robot approaches. Simulation experiments with two AUVs, comparing...
The need for a safe and economically efficient traffic represents a challenge for creating traffic management systems. This paper deals with merging three basic concepts, namely cloud-based technologies, agent-based approaches and fuzzy cognitive maps to solve the localisation and path planing for several vehicles of different types in the form of independent agents, which communicate with a supervisory...
In this paper based on vehicle single track model an optimal control strategy for autonomous driving is developed. The reference control values which lead the vehicle alongside a calculated optimal path by satisfying optimization objective criteria such as comfort and safety are generated by real-time path optimization level. In this level to avoid any collision and obstacle, one dimensional potential...
The proposed concept shows a method of solving emerging path planning conflict situations within a heterogeneous multi-robot system. Emerging conflict situations are solved by a decentralized system-wide communication, which includes an active exchange of relevant path planning information among all participants. Detection and prevention of collisions is based on applying geometrical operations on...
This paper presents a method of path planning for skid-steer robots using an energy-based heuristic. A kinematic model of skid-steer motion utilizing the instantaneous centers of rotation (ICRs) between the tracks and the ground surface is used to predict vehicle motion. A model of skid-steer robot power usage, which also utilizes ICR estimates for slip velocity calculation, is implemented to generate...
A Hopfield-type neural networks (HNN) algorithm associated with histogram navigation method is proposed in this paper for real-time map building and path planning for multiple goals applications. In real world applications such as rescue robots, service robots, mining mobile robots, and mine searching robots, etc., an autonomous vehicle needs to reach multiple goals with a shortest path that, in this...
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...
Public vehicle (PV) systems will be efficient traffic-management platforms in future smart cities, where PVs provide ridesharing trips with balanced QoS (quality of service). PV systems differ from traditional ridesharing due to that the paths and scheduling tasks are calculated by a server according to passengers' requests, and all PVs corporate with each other to achieve higher transportation efficiency...
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...
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