scholarly journals Real-Life Implementation of a GPS-Based Path-Following System for an Autonomous Vehicle

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3940 ◽  
Author(s):  
Alexander de Winter ◽  
Simone Baldi
Keyword(s):  
Real Time ◽  
Autonomous Vehicle ◽  
Tracking Error ◽  
Experimental Studies ◽  
Real Life ◽  
Path Following ◽  
Lateral Acceleration ◽  
The Real ◽  
Gps System ◽  
Toyota Prius

This work is meant to report on activities at TU Delft on the design and implementation of a path-following system for an autonomous Toyota Prius. The design encompasses: finding the vehicle parameters for the actual vehicle to be used for control design; lateral and longitudinal controllers for steering and acceleration, respectively. The implementation covers the real-time aspects via LabVIEW from National Instruments and the real-life tests. The deployment of the system was enabled by a Spatial Dual Global Positioning System (GPS) system providing more accuracy than the regular GPS. The results discussed in this work represent the first autonomous tests on the Toyota Prius at TU Delft, and we expect the proposed system to be a benchmark against which to test more advanced solutions. The tests show that the system is able to perform in real-time while satisfying comfort and trajectory tracking requirements: in particular, the tracking error was within 16 cm, which is compatible with the 13 cm precision of the Spatial Dual GPS, whereas the longitudinal and lateral acceleration are within comfort levels as defined by available experimental studies.

scholarly journals Implementation and intelligent gain tuning feedback–based optimal torque control of a rotary parallel robot

2021 ◽  
pp. 107754632110191
Author(s):  
Farzam Tajdari ◽  
Naeim Ebrahimi Toulkani
Keyword(s):  
Real Time ◽  
Tracking Error ◽  
Parallel Robot ◽  
Torque Control ◽  
Test Bed ◽  
Linear Quadratic ◽  
Control Effort ◽  
The Real ◽  
Unknown Disturbances ◽  
Quadratic Integral

Aiming at operating optimally minimizing error of tracking and designing control effort, this study presents a novel generalizable methodology of an optimal torque control for a 6-degree-of-freedom Stewart platform with rotary actuators. In the proposed approach, a linear quadratic integral regulator with the least sensitivity to controller parameter choices is designed, associated with an online artificial neural network gain tuning. The nonlinear system is implemented in ADAMS, and the controller is formulated in MATLAB to minimize the real-time tracking error robustly. To validate the controller performance, MATLAB and ADAMS are linked together and the performance of the controller on the simulated system is validated as real time. Practically, the Stewart robot is fabricated and the proposed controller is implemented. The method is assessed by simulation experiments, exhibiting the viability of the developed methodology and highlighting an improvement of 45% averagely, from the optimum and zero-error convergence points of view. Consequently, the experiment results allow demonstrating the robustness of the controller method, in the presence of the motor torque saturation, the uncertainties, and unknown disturbances such as intrinsic properties of the real test bed.

scholarly journals EXPLORATION OF E-LEARNING VS TRADITIONAL LEARNING IN INDIA

2020 ◽  
Vol 8 (2) ◽  
pp. 69-76 ◽  
Author(s):  
Gulbir Singh ◽  
Vivek Bhatnagar ◽  
Rajeev Gupta ◽  
Gautam Kumar
Keyword(s):  
Comparative Analysis ◽  
Real Time ◽  
Real Life ◽  
Research Data ◽  
University Education ◽  
Traditional Learning ◽  
Analysis Method ◽  
The Real ◽  
Huge Impact ◽  
E Learning

Purpose of Study: The purpose of the study is to carry out the comparison of traditional learning and e-learning with reference to university education. Methodology: A comparative analysis method that has been selected to fulfill the purpose of the study. The research data has been collected by various sources internet, previous research studies published in the Journal, universities which offer different technical and nontechnical programs .and further analyzed by in-depth understanding approach. Result: The outcome of this study will show the effect of e-learning in the current era. As we have compared e-learning with traditional learning and the result shows us that e-learning has filled the gap between the universities and the real-life industries' demands. Main finding: The result of this study showed that e-learning is the need of the present era in order to fulfill the gap between the universities and the real-life industries' demands. Additionally, e-learning based courses will have more impact and provide more skill and exposure to students as compared to traditional learning mode. Implications/Applications: This article can help the different universities and students to introduce more e-learning courses in their curriculum and they can fill the real-time industries' demands. Novelty/originality of the study: Our research can ensure that e-learning has a huge impact on our students and can help to increase the skills and exposure of them according to the current demands.

Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Richard Roebuck ◽  
Andrew Odhams ◽  
Kristoffer Tagesson ◽  
Caizhen Cheng ◽  
David Cebon
Keyword(s):  
Control System ◽  
High Speed ◽  
Tracking Error ◽  
Path Following ◽  
Stability Control ◽  
Substantial Improvement ◽  
Lateral Acceleration ◽  
Steering Control ◽  
Stability Margins ◽  
Stability Control System

A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination.

ACO-Based Global Optimal Transportation Path

2012 ◽  
Vol 488-489 ◽  
pp. 1680-1683
Author(s):  
Wei Hua Zhu ◽  
Ying Shen
Keyword(s):  
Ant Colony Optimization ◽  
Real Time ◽  
Shortest Path ◽  
Real Life ◽  
Optimal Transportation ◽  
Time Analysis ◽  
The Real ◽  
Real Time Analysis ◽  
Global Optimal ◽  
Simulation Results

This paper discusses how to address some issues when contemplating the global optimal transportation path (GOTP) such as dynamics, the ability of real-time analysis as well as complexity of prediction. Using shortest path methodology, this paper abstracts the real-life problem to a graphic context. Based on the solution of ant colony optimization (ACO) algorithm, the simulation indicates that this manner is efficient and effective in dealing with these problems. The indicators utilized ACO are achieved through simulation results analysis, providing the range of exact elements.

scholarly journals Magnetohydrodynamics with Applications to the Study of Electrolysis and Turbulence

2021 ◽  
Vol 57 (4) ◽  
pp. 49-53
Author(s):  
I.T. Selezov ◽  
◽  
V.N. Zaichenko ◽  
Keyword(s):  
Sea Water ◽  
Experimental Studies ◽  
Real Life ◽  
Local Models ◽  
The Real ◽  
Flat Wall ◽  
Its Analysis ◽  
Slow Motions

The equations of magnetohydrodynamics (MHD) are presented as continual modeling for slow motions. The original equations of the MHD environment are linearized, reduced, and applied to the analysis of environments characterized by the phenomena of electrolysis and turbulence. A continual approach for electrolysis and turbulence is presented, and the real-life ongoing studies are considering local models. The formulation of the problem and its analysis are presented as the density of the MHD-field decreases from a flat wall. Experimental studies with respect to propulsion devices in sea water are characterized.

scholarly journals Rendering the Real-Time Caustics with DirectX Raytracing

2021 ◽  
Author(s):  
Egor Komarov ◽  
Dmitry Zhdanov ◽  
Andrey Zhdanov
Keyword(s):  
Real Time ◽  
Virtual World ◽  
Real Life ◽  
Light Sources ◽  
Arbitrary Geometry ◽  
The Real ◽  
Virtual Camera ◽  
Current Article ◽  
Game Industry ◽  
Rendering Pipeline

Caustic illumination frequently appears in the real life, however, this type of illumination is especially hard to be rendered in real-time. Currently, some solutions allow to render the caustic illumination caused by the water surface, but these methods could not be applied to the arbitrary geometry. In the scope of the current article, we present a method of real-time caustics rendering that uses the DirectX Raytracing API and is integrated into the rendering pipeline. The method is based on using additional forward caustic visibility maps and backward caustics visibility maps that are created for light sources and the virtual camera correspondingly. The article presents the algorithm of the developed real-time caustics rendering method and the results of testing its implementation on test scenes. The analysis of the dependence of the rendering speed on the depth of specular ray tracing, the number of light sources, and the number of rays per pixel is carried out. Testing shows promising results which can be used in the modern game industry to increase the realism of the virtual world visualization.

Water Level Intelligent Monitoring System Based on Mobile Terminal and PC Terminal

2013 ◽  
Vol 475-476 ◽  
pp. 198-203
Author(s):  
Lei Li ◽  
Zheng Li
Keyword(s):  
Water Level ◽  
Real Time ◽  
Detection System ◽  
Control Level ◽  
Experimental Studies ◽  
Mobile Terminal ◽  
Time Data ◽  
The Real ◽  
Communication Module ◽  
Automation And Control

In order to obtain the real-time hydrological information, and conduct the analysis and early warning on hydrological data, this paper studied the water level acquisition algorithm, used the dissection method to make the water level more accurate, optimized through image refining to reduce the complexity of the algorithm; it designed the data acquisition module of water level detection system, realized the real-time data transmission through programming, used Microsoft Access database to exchange data between server and communication module, manipulated data in the database, and designed the human-computer interaction interface; experimental studies have shown that this system can have access to information in a real-time and accurate way, and has the functions of warning, settlement &accumulation, statistical analysis and so on, which effectively improves the water level monitoring automation and control level, and helps to improve the management level of the hydrological industry.

scholarly journals Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Daxiong Ji ◽  
Jian Liu ◽  
Hongyu Zhao ◽  
Yiqun Wang
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Autonomous Vehicle ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Path Following ◽  
Parametric Uncertainty ◽  
Parametric Modeling ◽  
Mode Control ◽  
2D Space

A solution to the path following problem for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty is proposed. For a general class of vehicles moving in 2D space, we demonstrated a path following control law based on multiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small neighborhood and robustness to parametric modeling uncertainty. An error integration element is added into the “tanh” function of the traditional sliding mode control. We illustrated our results in the context of the vehicle control applications that an underwater vehicle moves along with the desired paths in 2D space. Simulations show that the control objectives were accomplished.

scholarly journals Hierarchical Control for Trajectory Generation and Tracking Via Active Front Steering

2019 ◽  
Vol 142 (1) ◽  
Author(s):  
Joseph S. Hellewell ◽  
Atanas A. Popov ◽  
Gary E. Burnett
Keyword(s):  
Autonomous Vehicle ◽  
Tracking Error ◽  
Hierarchical Control ◽  
Path Optimization ◽  
Lateral Acceleration ◽  
Reference Trajectory ◽  
Arc Length ◽  
Steering Control ◽  
The Road ◽  
Reference Path

Abstract A new hierarchical model predictive controller (HMPC) for autonomous vehicle steering control is presented. The controller generates a path of shortest distance by determining lateral coordinates on a longitudinal grid, while respecting road bounds. This path is then parameterized by arc length before being optimized to restrict the normal acceleration values along the trajectory's arc length. The optimized trajectory is then tracked using a nonlinear MPC scheme using a bicycle plant model to calculate an optimal steering angle for the tires. The proposed controller is evaluated in simulation during a double-lane-change maneuver, where it generates and tracks a reference trajectory while observing the road boundaries and acceleration limits. Its performance is compared to a controller without path optimization, along with another that uses a smooth, predetermined, reference path instead of creating its own initial reference. It is shown that the proposed controller improves the tracking compared to a controller without path optimization, with a four-times reduction in average lateral tracking error. The average lateral acceleration is also reduced by 6%. The controller also maintains the tracking performance of a controller that uses a smooth reference path, while showing a much greater flexibility due to its ability to create its own initial reference path rather than having to follow a predetermined trajectory.

Towards an understanding of real-time continuous feedback from simulation games

2014 ◽  
Vol 11 (1) ◽  
pp. 45-62 ◽  
Author(s):  
Mathews Nkhoma ◽  
Jaime Calbeto ◽  
Narumon Sriratanaviriyakul ◽  
Thu Muang ◽  
Quyen Ha Tran ◽  
...  
Keyword(s):  
Real Time ◽  
Learning Outcomes ◽  
Classroom Environment ◽  
Positive Impact ◽  
Real Life ◽  
Simulation Game ◽  
Simulation Games ◽  
Content Type ◽  
The Real ◽  
Continuous Feedback

Purpose – Simulation games have long been used as a teaching tool in the classroom environment mainly due to the high level of participation and engagement that students are able to generate from these, making the learning process more enjoyable and capable to replicate real-life scenarios. Feedback given during the simulation helps to motivate students to find better solutions to the problems being presented in the games and thus enhance their hands-on knowledge on particular subjects. The purpose of this research is to provide empirical evidence of interrelations and impacts that exist between real-time continuous feedback and simulation game performance as well as the interrelations and impacts that exist between real-time continuous feedback and both students' attitude and engagement towards learning. Design/methodology/approach – The research focused on 60 undergraduate students enrolled at the Centre of Commerce at RMIT University Vietnam who had taken at least three semesters at various programmes. For test purposes, the research employed a 3D IBM business process management (BPM) simulation game, INNOV8 developed by the IBM Academic Initiative (more information about the game is available at: www-01.ibm.com/software/solutions/soa/innov8/index.html). A web-based survey followed at the university grounds for the collection of data. Findings – Students showed a favourable attitude towards learning through the simulation game. In addition, the real-time continuous feedback given during the simulation game had a positive impact on the students' cognitive learning outcomes. Research limitations/implications – The sample size used was relatively small with 60 participants, most unfamiliar with the theories of BPM. Originality/value – The originality of this research stems from the real-time and continuous nature of the feedback being given to students during the gameplay of a computer-based simulation game, and how this type of feedback could positively impact the students' learning outcomes.

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