An automatic Guidance system of an autonomous vehicle —the trajectory generation and the control algorithm

Robotica ◽  
1993 ◽  
Vol 11 (4) ◽  
pp. 309-314 ◽  
Author(s):  
S.S. Lee ◽  
J.H. Williams ◽  
P.J. Rayment
Keyword(s):  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Trajectory Generation ◽  
Guidance System ◽  
Smooth Functions ◽  
Automatic Guidance ◽  
Experimental Vehicle

SUMMARYThis paper presents a trajectory generation method using smooth functions for an automatic guidance system of an autonomous vehicle with two differentially driven wheels within structured environments. A control algorithm based on an incrementally generated smooth trajectory gives a good performance when implemented on an experimental vehicle.

A Systematic Multi-Vehicle Platooning and Platoon Merging: Strategy, Control, and Trajectory Generation

2014 ◽  
Author(s):  
Mohammad Goli ◽  
Azim Eskandarian
Keyword(s):  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Trajectory Generation ◽  
Simulation Platform ◽  
Longitudinal Control ◽  
Vehicle Platooning ◽  
Vehicle Platoon ◽  
Strategy Control ◽  
Automated Highway ◽  
Merging Strategy

Problem of autonomous vehicle platooning in an automated highway setting has drawn many attentions, both in academia and industry, during last two decades. This paper studies the problem of vehicle platooning with a particular focus on merging control algorithm when one or several vehicle(s) merge(s) from the adjacent lane into the main vehicle platoon under longitudinal control. Different longitudinal controllers have been compared. A practical novel multi-vehicle merge-in strategy and an adaptive lateral trajectory generation method have been proposed. The proposed approach is then tested and verified in our newly developed simulation platform SimPlatoon.

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

scholarly journals Reflector Matching Mechanism for Localization of Automatic guidance system

2011 ◽  
Vol 15 (6) ◽  
pp. 1238-1244
Author(s):  
Eun-Kook Jung ◽  
Kyung-Hoon Jung ◽  
Hyun-Hak Cho ◽  
Jung-Min Kim ◽  
Sung-Shin Kim
Keyword(s):  
Guidance System ◽  
Automatic Guidance ◽  
Matching Mechanism

AUV Guidance System for Dynamic Trajectory Generation

2012 ◽  
Vol 45 (5) ◽  
pp. 198-203 ◽  
Author(s):  
Francesco Scibilia ◽  
Ulrik Jørgensen ◽  
Roger Skjetne
Keyword(s):  
Trajectory Generation ◽  
Guidance System ◽  
Dynamic Trajectory

A Biologically Inspired Autonomous Robot Control Based on Behavioural Coordination in Evolutionary Robotics

2011 ◽  
pp. 107-129 ◽  
Author(s):  
José A. Fernández-León ◽  
Gerardo G. Acosta ◽  
Miguel A. Mayosky ◽  
Oscar C. Ibáñez
Keyword(s):  
Mobile Robots ◽  
Autonomous Vehicle ◽  
Trajectory Generation ◽  
Real Life ◽  
Evolutionary Robotics ◽  
Knowledge Based ◽  
Planning And Control ◽  
Life Problems ◽  
Path Planner ◽  
And Control

This work is intended to give an overview of technologies, developed from an artificial intelligence standpoint, devised to face the different planning and control problems involved in trajectory generation for mobile robots. The purpose of this analysis is to give a current context to present the Evolutionary Robotics approach to the problem, which is now being considered as a feasible methodology to develop mobile robots for solving real life problems. This chapter also show the authors’ experiences on related case studies, which are briefly described (a fuzzy logic based path planner for a terrestrial mobile robot, and a knowledge-based system for desired trajectory generation in the Geosub underwater autonomous vehicle). The development of different behaviours within a path generator, built with Evolutionary Robotics concepts, is tested in a Khepera© robot and analyzed in detail. Finally, behaviour coordination based on the artificial immune system metaphor is evaluated for the same application.

Automatic Guidance System With Crop Row Sensor

2013 ◽  
Author(s):  
H. Okamoto ◽  
K. Hamada ◽  
T. Kataoka ◽  
M. Terawaki and S. Hata
Keyword(s):  
Guidance System ◽  
Automatic Guidance
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