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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]...
Nowadays, agricultural and mining industry applications require saving energy in mobile robotic tasks. This critical issue encouraged us to enhance the performance of path tracking controllers during manoeuvring over slippery and rough terrains. In this scenario, we propose probabilistic approaches under machine learning schemes in order to optimally self-tune the controller. The approaches are real...
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...
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update rate and finite inertia. We implemented two fundamental self-organized algorithms: one with constant direction and one with constant velocity preference to reach a...
This paper researches the path tracking problem for four-wheel steering (4WS) autonomous vehicles (AVs). A 4WS dynamics model of error is established. An analysis of steady state error point that 4WS AVs can eliminate steady state error in ideal condition but traditional Front-Wheel steering (FWS) AVs cannot achieve. By introducing sideslip angle, two sliding mode controllers are utilized to converge...
The electric/hybrid vehicle are promising technologies and practical for the transport and the environment. For energy management, the vehicle longitudinal dynamics used to estimate vehicle power demands depend on several parameters, including its mass and its rolling conditions. This study compared the methods of estimating the rolling resistance coefficient and mass to establish energy planning...
For manned drive for the rubber tram to track virtual tracks can easily lead to driver fatigue problems, on the basis of the visual navigation, an automatic steering control method based on the model predictive control is proposed. In the paper, Firstly, the automatic steering control principle based on visual navigation vehicle is introduced; then, the automatic steering predictive controller is...
Energy management of multi-sources vehicles is a complex task. The higher the number of sources becomes, the higher the complexity is. In this study, a decomposed energy management strategy is used for a vehicle fed by three energy sources: a fuel-cell, a battery and supercapacitors. This decomposition allows simplifying the synthesis of the Energy Management Strategy. A comparison with a fuel cell...
Lane Detection (LD) systems are now commonly used in autonomous cars to assist drivers. However, LD takes up only a small part of the Advanced Driver Assistant Systems (ADAS) and should be highly optimised to make more room for other more complicated algorithms such as stereo vision systems that are incorporated into an ADAS. This paper mainly focuses on an optimised implementation of the linear lane...
In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passively-tethered. Focusing on the less studied tethered method, we show its advantages w.r.t. the free-flight method thanks...
This study is dedicated to optimize the electric transport traffic by adjusting timetables using evolutionary algorithms and scheduling theory. Developed multiple criteria objective function's energy consumption criterion is used for the assessment of adjusted schedules. The scheduling results of immune algorithm is compared with results of genetic algorithm by providing better energy saving effect...
A precise and efficient tracking technique is essential for an intelligent vehicle to interact with the surrounding vehicles on the road. In this paper, we propose a model-based vehicle tracking method using the Rao-Blackwellized particle filter (RBPF) and scaling series particle filter (SSPF).
The envisaged method of dynamic energy-capacity planning is based on dynamic energy consumption distribution (DECD) capabilities of Smart Microgrids. Such capabilities can be achieved by implementation of Internet of Things (IoT) sensors fusion and optimized communication networks in an Advanced Metering Infrastructure (AMI). This method is described by the mathematical model for DECD that has been...
The present paper focuses on the model-based systems engineering of a battery electric vehicle called FReDy with intelligent chassis systems. This research vehicle is equipped with two electric drives on the rear axle that are positioned close to the wheels. FReDy combines electric traction with an intelligent chassis consisting of four independent active wheel modules and is a fully active electric...
The purpose of this paper is to introduce a complex nonlinear model to a novel tandem ducted fan vehicle which adopted a structure of coaxial rotor and cyclic pitch system, considering aerodynamic coupling, disturbing between the upper and the lower rotor, and special aerodynamic characteristics of duct. On this basis, a robust hover control system has been designed to attitude control using H-infinite...
This paper proposes a novel nonlinear controller for path following control of underactuated autonomous underwater vehicle (AUV) in the horizon plane. In order to overcome the drawback of dependence on the accurate dynamic model that are present in a number of path following control strategies described in the literature, the unknown environmental disturbances and unmodeled dynamics are viewed as...
The 6-DOF spindle-coupled road simulators are complicated serioparallel mechanisms. In this paper, the constraint equations about the length of major components are established based on the constrained relationships of different space vectors. Under the premise that the structural parameters and movement rule of the test rig are given, the position and the velocity of the simulator are analyzed. The...
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