Design and Development of an Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios

2011 ◽  
pp. 39-54 ◽  
Author(s):  
Sterling J. Anderson ◽  
Steven C. Peters ◽  
Tom E. Pilutti ◽  
Karl Iagnemma
Keyword(s):  
Optimal Control ◽  
Trajectory Planning ◽  
Threat Assessment ◽  
Autonomous Control ◽  
Design And Development ◽  
Passenger Vehicles ◽  
Hazard Avoidance

Semi-Autonomous Avoidance of Moving Hazards for Passenger Vehicles

2010 ◽  
Author(s):  
Sterling J. Anderson ◽  
Steven C. Peters ◽  
Tom E. Pilutti ◽  
H. Eric Tseng ◽  
Karl Iagnemma
Keyword(s):  
Optimal Trajectory ◽  
Autonomous Control ◽  
Experimental Results ◽  
Control Law ◽  
Model Predictive Controller ◽  
Passenger Vehicles ◽  
Moving Obstacles ◽  
Hazard Avoidance ◽  
Predictive Controller

This paper presents a method for semi-autonomous hazard avoidance in the presence of unknown moving obstacles and unpredictable driver inputs. This method iteratively predicts the motion and anticipated intersection of the host vehicle with both static and dynamic hazards and excludes projected collision states from a traversable corridor. A model predictive controller iteratively replans a stability-optimal trajectory through the navigable region of the environment while a threat assessor and semi-autonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure safe hazard avoidance. The efficacy of this approach is demonstrated through both simulated and experimental results using a semi-autonomously controlled Jaguar S-Type.

scholarly journals Robust Aircraft Trajectory Planning Under Wind Uncertainty Using Optimal Control

2018 ◽  
Vol 41 (3) ◽  
pp. 673-688 ◽  
Author(s):  
Daniel González-Arribas ◽  
Manuel Soler ◽  
Manuel Sanjurjo-Rivo
Keyword(s):  
Optimal Control ◽  
Trajectory Planning ◽  
Aircraft Trajectory

Trajectory Planning for Concrete Element Fabrication with Optimal Control

2021 ◽  
Author(s):  
Boris Blagojevic ◽  
Benjamin Schonemann ◽  
David Nigl ◽  
Lucio Blandini ◽  
Oliver Sawodny
Keyword(s):  
Optimal Control ◽  
Trajectory Planning ◽  
Concrete Element

Design and development of a novel autonomous scaled multiwheeled vehicle

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Aaron Hao Tan ◽  
Michael Peiris ◽  
Moustafa El-Gindy ◽  
Haoxiang Lang
Keyword(s):  
Autonomous Navigation ◽  
Visual Servoing ◽  
Control Algorithms ◽  
Road Vehicles ◽  
Design And Development ◽  
Passenger Vehicles ◽  
Wheel Drive ◽  
Research Platform ◽  
High Level ◽  
Path Planner

Abstract This article proposes the design and development of a novel custom-built, autonomous scaled multiwheeled vehicle that features an eight-wheel drive and eight-wheel steer system. In addition to the mechanical and electrical design, high-level path planning and low-level vehicle control algorithms are developed and implemented including a two-stage autonomous parking algorithm is developed. A modified position-based visual servoing algorithm is proposed and developed to achieve precise pose correction. The results show significant gains in accuracy and efficiency comparing with an open-source path planner. It is the aim of this work to expand the research of autonomous platforms taking the form of commercial and off-road vehicles using actuated steering and other mechanisms attributed to passenger vehicles. The outcome of this work is a unique autonomous research platform that features independently driven wheels, steering, autonomous navigation, and parking.

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