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In order to remove the problem of the shadow of moving vehicles in video surveillance, this paper presents an algorithm based on projection features of the connected regions to eliminate the dynamic shadow. Firstly, the Frame Difference method is applied to image blocks to extract the background. Then, the moving vehicles are detected as the foreground in the current frame by background subtraction...
In order to verify the feasibility of the noise source identification method for underwater moving vehicle, an underwater sound source simulated test system was designed, which is simple and practically easy to implement. In the reservoir test, dynamic data were collected, which obviously have Doppler effect. The performances of the Conventional Beamforming (CBF) and the Deconvolution Approach for...
Vehicular ad-hoc network (VANET) is an important technology for future development of intelligent transportation systems. VANETs are being used as a tool for improving road safety by warning the drivers about accidents occurred ahead of them or for providing internet access to the passengers via gateways along the road. Although VANET is an application of MANETs but routing of data packets is more...
Traffic lights are designed to ensure smooth traffic in the cities. The current traffic system is running same over the past few years. As number of vehicles on the roads is increasing constantly, this system is failing to serve traffic congestion problems especially on the intersections. Due to traffic congestion High Priority Vehicles (HPV) also get stuck in traffic which results delay in their...
With the development of automated logistics systems, flexible manufacture systems (FMS) and unmanned automated factories, the application of automated guided vehicle (AGV) gradually become more important to improve production efficiency and logistics automatism for enterprises. The development of the AGV systems play an important role in reducing labor cost, improving working conditions, unifying...
The passive control of traffic lights especially in urban scenario can adversely affect the movement of vehicles. The uneven distribution of vehicles on different lanes due to statically varying traffic lights also severely affects factors such as vehicle waiting time, fuel consumption as well as environment. This paper proposes a Vehicle to Roadside based data dissemination scheme that periodically...
Path planning among obstacles for nonholonomic systems is a widely researched area nowadays, but it is still one of the most challenging problems in autonomous navigation. We have recently presented a rapidly exploring random tree based global planner (RTR) and a steering method (C*CS) for car-like vehicles, which uses circular and straight movements. With the aid of these two methods it is possible...
This paper discusses the multi-objective optimal sizing and energy management of proton-exchange-membrane fuel cell systems (PEMFCS) in hybrid electric vehicles. First, a convex multi-objective optimization framework is established for quickly and efficiently examining the optimal PEMFCS size and tradeoffs between the PEMFCS durability and hydrogen economy for a fuel cell hybrid bus. Second, the implication...
This paper proposes a Rapidly exploring Random Trees planning strategy (Poli-RRT*) that computes optimal trajectories in presence of vehicle constraints (e.g., differential and actuation constraints) without approximating the nonlinear dynamics, but relying on exact linearisation. In this way, the optimal control problem that is introduced to determine the trajectories extending the tree can be expressed...
This paper proposes a sampling based planning technique for planning maneuvering paths for semi-autonomous vehicles, where the autonomous driving system may be taking over the driver operation. We use Rapidly-exploring Random Tree Star (RRT*) and propose a two-stage sampling strategy and a particular cost function to adjust RRT* to semi-autonomous driving, where, besides the standard goals for autonomous...
Autonomous vehicles will benefit from the ability to perform aggressive driving maneuvers in safety-critical situations where the full use of available tire-road friction is required. Unfortunately, vehicle steering dynamics become highly nonlinear and difficult to model near the limits of tire adhesion, making accurate control of these maneuvers difficult. One promising approach is to use iterative...
In this paper, we study the problem of resilient consensus of sampled-data multi-agent networks with doubleintegrator dynamics. The term resilient points to the presence of faulty agents in the network. Each normal agent updates its state based on a predetermined control law using its neighbors' information while misbehaving agents make updates arbitrarily and might threaten the consensus within the...
This paper focuses on the study of consensus for a team of agents with continuous dynamics in the presence of state constraints. Due to the existence of state constraints, most existing consensus algorithms cannot be applied directly and thus a novel consensus algorithm is proposed to deal with state constraints. The novel consensus algorithm is shown to guarantee consensus when a few conditions are...
Researches with ensemble Systems have emerged as an attempt to obtain a computational system that works with classification tasks in an efficient way. The main goal of using ensemble systems is to improve the performance of a pattern recognition system in terms of better generalization and/or of clearer design. One of the main challenges in the design of a ensemble system is the definition of the...
In view of the current traffic network of deficiencies in the path selection research, i.e. only consider static traffic network path selection problem. This paper proposed shortest path algorithm under congestion traffic network which is based on ant colony algorithm and builds the traffic network model based on Petri nets, and use ant colony optimization to find the shortest path for the static...
This work models the traffic congestion minimization as the multicommodity flow problem, which minimizes the amount of vehicles that travels in the same streets. Based on two constructive heuristics proposed in this study (Random Routes and Sorted Routes), we have developed and evaluated four new heuristics, being two local search and two metaheuristics of reactive GRASP. The results have shown that...
A great challenge in developing countries is the constant traffic jams in urban areas, which are a consequence of excessive use of private vehicles. In these countries, more people would adopt public transportation, e.g., buses, if the time of arrival for the next vehicle to each bus stop could be predicted. In this direction, we propose WiBus, which is a system to estimate buses arrival time, based...
This paper addresses the stability and tracking control problem of quadrotor unmanned flying vehicle (UAV) in the presence of uncertainty. Adaptive autonomous sliding mode tracking system is designed by combining robust and adaptive control theory. Lyapunov analysis shows that the proposed algorithms can guarantee asymptotic convergence of the tracking error of the linear and angular motion dynamics...
Unmanned aerial vehicles are being used in several monitoring applications to collect data from a set of targets. These vehicles are heterogeneous in the sense that they can differ either in their motion constraints or sensing capabilities. Furthermore, not all vehicles may be able to visit a given target because vehicles may occasionally be equipped with disparate sensors due to the respective payload...
Tracking accuracy plays a critical role in V2V (vehicle-to-vehicle communications) based active safety applications. This paper proposed a beacon rate control algorithm to reduce the tracking error. By analyzing the vehicle trajectory tracking process, it is found that the tracking error is proportional to the moving status of a vehicle, as well as the data delay. Due to the constraint of the wireless...
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