The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Obstacle detection is a fundamental task for Advanced Driver Assistance Systems (ADAS) and Self-driving cars. Several commercial systems like Adaptive Cruise Controls and Collision Warning Systems depend on them to notify the driver about a risky situation. Several approaches have been presented in the literature in the last years. However, most of them are limited to specific scenarios and restricted...
This paper introduces an local path planning algorithm for the self-driving car in a complex environment. The proposed algorithm is composed of three parts: the novel path representation, the collision detection and the path modification using a voronoi cell. The novel path representation provides convenience for checking the collision and modifying the path and continuous control input for steering...
This paper presents the responses of the vehicle and track components in terms of vertical forces and displacements. The considered vehicle model is a 10-DOF multi-rigid-body system supported on a track systems that consider three layers of structure. The car body is linked with the bogie through the secondary suspension system contained spring and damper elements. In the model of track, the rail...
Tail rotor failure is one of the major failures occurring frequently and causing accidents. In this paper we investigate Tail Rotor Control Failure(TRCF) based on helicopter dynamic models. There is no notable work reported in the literature on control of a small helicopter with TRCF. In contrast to hover mode, forward flight improves yaw damping naturally. So it is a challenging task to retain the...
Random occurrences of traffic congestion on freeways lead to system degradation over time. If no smart control measures are applied, this degradation can lead to accumulated congestion which can severely affect other parts of the traffic network. Consequently, the need for an optimal and reliable traffic control has become more critical. The aim of this research is to control the amount of vehicles...
In this paper, we investigate the interception problem of a target with multiple decoys. These decoys appear as apparent points and only can be distinguished with the approaching of the flight vehicle and the real target. Due to the limitation of the flight vehicle maneuverability, these apparent points should be considered as the real ones otherwise a large miss distance might be caused between the...
This paper studies the problem of accurately detecting skid forces in an autonomous vehicle in order to develop as a tool for controlled skid. Skid estimation and control represents a very challenging problem because of the vehicle's dynamics when performing a skidding maneuver. The use of sliding mode control and observer approach provides a robust environment for analyzing and controlling such system...
This paper presents a new continuous-time Kalman-like filter directly on SO(3) for attitude estimation of a vehicle with vector and gyro measurements. The presented filter is inspired by a recently developed norm-constrained Kalman-like filter, which has successfully been applied to the attitude estimation problem when a quaternion parameterization is used. The filter is compared with a continuous-time...
An Unmanned Aerial Vehicle (UAV) team formed from two or more UAVs is used in the autonomous encirclement of a stationary target in simulation. The encirclement tactic is defined as the situation in which a target is surrounded by a UAV team in formation. This tactic can be employed by a team of UAVs to neutralize a target by restricting its movement. A combination of Linear Model Predictive Control...
This paper provides analytical results regarding the stability of linear discrete-time systems with stochastic delays. Necessary and sufficient stability conditions are derived by using the second moment dynamics which can be used to draw stability charts. The results are applied to a simple connected vehicle system where the stability regions are compared to those given by the mean dynamics. Our...
This paper presents the Optimized Kalman Particle Swarm (OKPS) filter. This filter is a new robust data fusion approach adapted for ego-vehicle localization in degraded signal conditions. The OKPS is the improved version of the hybridization of the Particle Filter (PF) by Particle Swarm Optimization notions (PSO). Taking also some features from the Extended Kalman filter (EKF), the OKPS is designed...
In this paper, we propose a novel planning framework that can greatly improve the level of intelligence and driving quality of autonomous vehicles. A reference planning layer first generates kinematically and dynamically feasible paths assuming no obstacles on the road, then a behavioral planning layer takes static and dynamic obstacles into account. Instead of directly commanding a desired trajectory,...
This paper implements an interval Kalman filter (IKF) for the navigation of the Springer uninhabited surface vehicle. Interval filters become necessary when the system dynamics are not known precisely or vary unpredictably, but can nevertheless be described in terms of bounded intervals. Such filters based on interval systems require the use of interval arithmetic (IA) for their operation. One of...
Robust and stable control is a requirement for navigation of self-driving cars. Some approaches in the literature depend on a high number of parameters that are often difficult to estimate. A poor selection of these parameters often reduces considerably the efficiency of the control algorithms. In this paper we propose a simplified control system for autonomous vehicles that depends on a reduced number...
Computer-based guidance of passenger vehicles is a common reality today, but cost, computation, and robustness challenges remain to obtain accurate vehicle state estimates. This study builds on previous work by the authors towards the development of a vehicle state estimation framework that uses optimal preview control theory to fuse map, GPS, inertial, and forward-looking camera information in a...
Magnetic guidance is a commonly used vehicle navigation solution in real applications due to its reliability. The vehicle control of magnetic guidance, however, is difficult because of the look-down property of road detecting sensors. This paper proposes a curvature map based approach to realize look-ahead control for magnetic guidance used in urban scenarios. The basis of the approach is a magnet...
Based on high-resolution radars a new approach for determining the full 2D-motion state (yaw rate, longitudinal and lateral speed) of an extended rigid object in a single measurement is proposed. The system does not rely on any model assumptions and is independent of the exact position, expansion and orientation of the object. In comparison to related methods it is not based on temporal filtering,...
The main goal of this paper is to develop a multi-class traffic flow and emission model that is suited for on-line model-based control. Multi-class traffic flow and emission models take into account the heterogeneous nature of traffic networks. In comparison with single-class models, these models are more accurate. Using more accurate model results in better description of the traffic network. However,...
Second-order consensus tracking problem of uncertain multi-vehicle systems without velocity measurements is studied on the directed communication topologies. We first construct two dynamic controllers via a passivity-based approach for the nominal vehicle model, which are linear and bounded (nonlinear) respectively. We then develop conditions on linear uncertainty and disturbance estimators (UDEs)...
This paper introduces a novel path planning method under non-holonomic constraint for car-like vehicles, which associates map discovery and heuristic search to attain an optimal resultant path. The map discovery applies fast marching method to investigate the map geometric information. After that, the support vector machine is performed to find obstacle clearance information. This information is then...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.