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.
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...
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear programming (MILP) formulation. This problem can be solved using general-purpose MILP solvers in a reasonable time, resulting in a resolution-optimal solution. Moreover,...
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...
The crank wheel mechanism, consisting of a wheel mechanism and parallel links connected to each wheel, achieved high mobility and efficiency because it has both wheels and legs in a simple structure. However, each prior model of crank wheel mechanism has had shortcomings such as mass oscillation or fragile structure. In this paper, we propose a novel crank wheel mechanism, the “Eccentric Crank Rover”(ECR),...
This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame (image frame). Due to the circulatory...
In order to make full use of the massive vehicle networking data and dig out the characteristics of the vehicle driving behaviors, the analysis of the massive vehicle networking data is indispensable. And clustering analysis is an effective way to extract the information which can guide and supervise the vehicles. In this paper, we propose a novel initial clustering center selection algorithm based...
In recent years, location-based services and indoor positioning systems gained increasing importance for both, research and industry. Visual localization systems have the advantage of not being dependent on dedicated infrastructure and thus are especially interesting for navigation within buildings. While there are already approaches of using pre-recorded databases of reference images to obtain an...
In this paper, a new cooperative control aiming at reducing the time delay is proposed in an isolated intersection without the traffic light. First of all, the control center receives the time range of arriving at the intersection from the vehicle by the communication of vehicle-to-infrastructure. Then a passing sequence is optimized by the Genetic Algorithm based on this range and sent to each vehicle...
Based on current technologies, automated driving systems needs the human driver to monitor the environment and the machine. One way to enhance the driver to watch the environment is to make him/her put his/her hands on the steering wheel. Under the condition that the human collaborates with the automation, it is important for the automation to be designed that the automation is trustworthy. One of...
Haptic steering technology has been developed to support drivers for more accurate and reliable vehicular control. This paper investigates the evaluation of steering performance when a haptic guidance steering system is implemented for passive fatigued drivers. The haptic system continuously produces torque on the steering wheel to inform drivers about the lateral lane deviations; consequently, drivers...
To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending...
This paper proposes an ant system based state estimation approach for simultaneous localization and mapping (SLAM) in the case of ambiguities both in the feature number and data correspondence. Inspired by the random finite sets (RFS) and its derivative, i.e., probability hypothesis density (PHD), an ant-PHD filtering is proposed to jointly estimate the locations and number of features, moreover,...
Traffic congestion control is pivotal for intelligent transportation systems. Previous works optimize vehicle speed for different objectives such as minimizing fuel consumption and minimizing travel time. However, they overlook the possible congestion generation in the future (e.g., in 5mins), which may degrade the performance of achieving the objectives. In this paper, we propose a vehicle Trajectory...
Managing trajectory separation of unmanned aircraft is critical to ensuring accessibility, efficiency, and safety in low altitude airspace. The concept of a geo-fence has emerged as a way to manage trajectory separation. A geo-fence consists of distance buffers that enclose individual trajectories to identify a ‘keep-in’ region and/or enclose areas that identify ‘keep-out’ regions. The ‘keep-in’ geo-fence...
We detail the development of a novel propulsion system for unmanned underwater vehicles (UUV's) inspired by the punting locomotion of the ‘Little Skate’. The hybrid legged, gliding and punting gait is a potential enabling technology for UUV access to complex littoral environments. Design, development and initial trials with the prototype vehicle are presented. A combination of video motion capture...
Controlled Lagrangian particle tracking (CLPT) is a feedback control methodology for autonomous underwater vehicles (AUVs) in dynamic ocean environments that can reveal information about ocean flow and model error through the operation of AUVs. From CLPT, we evaluate the navigational performance of AUVs with controlled Lagrangian prediction error (CLPE), which represents the difference between the...
In this paper we describe the mechanical and electronic design of KAY JUUL, an academic underwater glider, we also show the results from experimental tests developed in a pool. A Sliding PD Control scheme have been applied in the system, due to we don't know the parameters of the KAY JUUL yet, the control output variables were selected based on simulation results and theoretical analysis of the ROGUE,...
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...
The motivating mission for the work presented in this paper is performing photo-surveys of areas of the deep ocean seafloor using an autonomous underwater vehicle (AUV). This paper describes a method for estimating the full terrain profile ahead of an AUV using an obstacle avoidance sonar. This allows the use of an existing trajectory planning method to optimize low altitude trajectories for high...
This paper presents an Adaptive Nonlinear Model Predictive Controller for longitudinal motion of automated vehicles which incorporates advance information on future speed demand values, as well as on road grade changes. It is used in combination with a state and parameter estimator to adapt to a changing vehicle mass. This allows improved speed tracking capability for horizontal driving and steep...
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.