scholarly journals Modular Approach for Odometry Localization Method for Vehicles with Increased Maneuverability

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 79
Author(s):  
Chenlei Han ◽  
Michael Frey ◽  
Frank Gauterin
Keyword(s):  
Steering System ◽  
Vehicle Control ◽  
Modular Approach ◽  
Route Guidance ◽  
State Variables ◽  
Simulation Environment ◽  
Localization Method ◽  
State Estimators ◽  
Position And Orientation ◽  
Guidance Information

Localization and navigation not only serve to provide positioning and route guidance information for users, but also are important inputs for vehicle control. This paper investigates the possibility of using odometry to estimate the position and orientation of a vehicle with a wheel individual steering system in omnidirectional parking maneuvers. Vehicle models and sensors have been identified for this application. Several odometry versions are designed using a modular approach, which was developed in this paper to help users to design state estimators. Different odometry versions have been implemented and validated both in the simulation environment and in real driving tests. The evaluated results show that the versions using more models and using state variables in models provide both more accurate and more robust estimation.

An Algorithm for Generation of Coordinated Robot Trajectories in Cartesian Space

2013 ◽  
Vol 196 ◽  
pp. 169-180 ◽  
Author(s):  
Adam Słota
Keyword(s):  
Virtual Environment ◽  
Relative Position ◽  
Accuracy Analysis ◽  
Simulation Environment ◽  
Coordinated Motion ◽  
Generation Algorithm ◽  
Cartesian Space ◽  
Position And Orientation ◽  
End Effectors ◽  
Trajectory Generation Algorithm

In the paper a trajectory generation algorithm for two robots’ coordinated motion is presented. Two instances of the algorithm, each for one robot, run in the same time and calculate trajectories’ position and orientation coordinates. Initial and end robots’ end-effectors poses are defined and values of linear and angular speeds are programmed. To minimize relative position and orientation errors an idea of corrective motion is introduced. Trajectory coordinates are calculated as the sum of programmed and corrective motion. The algorithm was implemented in a simulation environment and results of simulation are presented. Static accuracy analysis for general case and stability verification for fixed values of robots’ parameters are described. Finally, an outline of proposed procedure of building a virtual environment for reachability verification and collision checking is presented.

scholarly journals Deep reinforcement learning based control for Autonomous Vehicles in CARLA

2022 ◽  
Author(s):  
Óscar Pérez-Gil ◽  
Rafael Barea ◽  
Elena López-Guillén ◽  
Luis M. Bergasa ◽  
Carlos Gómez-Huélamo ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Vehicle Control ◽  
Data Sources ◽  
Simulation Environment ◽  
Urban Simulation ◽  
Policy Gradient ◽  
Almost All ◽  
Control Layer

AbstractNowadays, Artificial Intelligence (AI) is growing by leaps and bounds in almost all fields of technology, and Autonomous Vehicles (AV) research is one more of them. This paper proposes the using of algorithms based on Deep Learning (DL) in the control layer of an autonomous vehicle. More specifically, Deep Reinforcement Learning (DRL) algorithms such as Deep Q-Network (DQN) and Deep Deterministic Policy Gradient (DDPG) are implemented in order to compare results between them. The aim of this work is to obtain a trained model, applying a DRL algorithm, able of sending control commands to the vehicle to navigate properly and efficiently following a determined route. In addition, for each of the algorithms, several agents are presented as a solution, so that each of these agents uses different data sources to achieve the vehicle control commands. For this purpose, an open-source simulator such as CARLA is used, providing to the system with the ability to perform a multitude of tests without any risk into an hyper-realistic urban simulation environment, something that is unthinkable in the real world. The results obtained show that both DQN and DDPG reach the goal, but DDPG obtains a better performance. DDPG perfoms trajectories very similar to classic controller as LQR. In both cases RMSE is lower than 0.1m following trajectories with a range 180-700m. To conclude, some conclusions and future works are commented.

Control System Integration for Dual Clutch Transmissions Based on Modular Approach

2013 ◽  
Vol 390 ◽  
pp. 419-423
Author(s):  
Yong Gang Liu ◽  
Zhen Zhen Lei ◽  
Li Lai Lu ◽  
Liang Chen
Keyword(s):  
System Integration ◽  
Control Strategies ◽  
Control Unit ◽  
Vehicle Control ◽  
Modular Approach ◽  
Control Logic ◽  
Transmission Control ◽  
Modeling Process ◽  
Clutch Control ◽  
And Control

Modular approach has been adopted in this paper to divide DCT transmission control unit into four modules, which are clutch control, synchronizer control, shift assembly control and vehicle control respectively. The function for each module has been analyzed and the control logic relations among these modules have also been established for modular integration. Moreover, the modeling process and control strategies for each module have been established for respective control objection. On this basis, the simulation model of transmission control unit for DCT has been built using the Matlab/Simulink platform, and the simulation has been carried out at given throttle opening. The results show that the control strategy of transmission control unit for DCT has been validated, which provides theoretical basis for DCT product development.

The Research on 4WS Vehicle Steering Stability by Modeling and Simulation

2011 ◽  
Vol 403-408 ◽  
pp. 3099-3103
Author(s):  
Dai Sheng Zhang ◽  
Jun Jie Huang ◽  
Hao Wang
Keyword(s):  
Modeling And Simulation ◽  
High Speed ◽  
Steering System ◽  
Vehicle Control ◽  
Control Mode ◽  
Vehicle Design ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Simulation Research ◽  
Theory Research

In order to improve vehicle steering stability, the influence of tire loads and steering system to the vehicle stability is taken into account in this paper, and the 4WS vehicle model is established and modeling and simulation research is carried through with the Matalab/simulink. The results point out the differences and characters of vehicle control mode in low speed and high speed. This model provides a method for 4WS vehicle design, improvement and optimization, and also provides reference for 4WS theory research and test check.

Modeling of Dynamic Game-Based Route Guidance System

2011 ◽  
Vol 130-134 ◽  
pp. 1867-1871
Author(s):  
Yun Wei ◽  
Qing Shao ◽  
Yin Han
Keyword(s):  
Game Theory ◽  
Flow System ◽  
Dynamic Game ◽  
User Equilibrium ◽  
Theory Model ◽  
Guidance System ◽  
Route Guidance ◽  
System Optimum ◽  
Simulation Results ◽  
Guidance Information

Route guidance process is the dynamic game-based process of traffic authority and users, users’ behavior is affected by the guidance information and it also affect guidance effect. On the basis of analysis of user equilibrium and system optimum, a game theory model between traffic authority and users is presented, and system optimum and user optimum guidance strategy are given. Simulation results show that: user optimum guidance strategy will bring oscillation of traffic flow, system optimum guidance strategy is optimal but difficult to achieve, and coordination of system optimum and user optimum is close to system optimum strategy.

scholarly journals Innovative Differential Magnetic Localization Method for Capsule Endoscopy to Prevent Interference Caused by the Geomagnetic Field

2021 ◽  
Author(s):  
Samuel Zeising ◽  
Daisuke Anzai ◽  
Angelika Thalmayer ◽  
Georg Fischer ◽  
Jens Kirchner
Keyword(s):  
Capsule Endoscopy ◽  
Geomagnetic Field ◽  
Medical Application ◽  
Differential Method ◽  
Localization Accuracy ◽  
Localization Method ◽  
Marquardt Algorithm ◽  
Position And Orientation ◽  
Wireless Capsule ◽  
The Impact

Wireless capsule endoscopy is an established medical application for the examination of the gastrointestinal tract. However, the robust and precise localization of these capsules is still in need of further scientific investigation. This paper presents an innovative differential magnetic localization method for capsule endoscopy to prevent interference caused by the geomagnetic field. The effect of changing the orientation of the capsule on the localization process was also examined. Simulations using COMSOL Multiphysics with the superimposed geomagnetic field were performed. The Levenberg–Marquardt algorithm was applied in MATLAB to estimate the position and orientation of the capsule. Comparing the proposed differential method with the absolute magnetic localization method under ideal conditions, the mean position and orientation errors were reduced by three orders in magnitude to less than 0.1 mm and 0.1 ° respectively. Even if sensor non-idealities are considered, the simulationbased results reveal that our proposed method is competitive with state-of-the-art geomagnetic compensation methods for static magnetic localization of capsule endoscopes.The achieved localization accuracy by applying the differential method is not dependent on the rotation of the localization system relative to the geomagnetic flux density under the made assumptions and the impact of the magnet orientation is neglectable. It is concluded that the proposed method is capable of preventing all interference whose components are approximately equal at all sensors with identical orientation. <br>

scholarly journals A PROPOSAL FOR A MULTI-DRIVE HETEROGENEOUS MODULAR PIPE-INSPECTION MICRO-ROBOT

2008 ◽  
Vol 05 (02) ◽  
pp. 111-126 ◽  
Author(s):  
ALBERTO BRUNETE ◽  
JOSE EMILIO TORRES ◽  
MIGUEL HERNANDO ◽  
ERNESTO GAMBAO
Keyword(s):  
Degrees Of Freedom ◽  
Visual Inspection ◽  
Modular Approach ◽  
Simulation Environment ◽  
Pipe Inspection ◽  
Behavior Control ◽  
Control Scheme ◽  
Micro Robot ◽  
Different Types ◽  
Distributed Behavior

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inner part of the pipes in order to detect damages, leaks and holes. Due to the different types of existing pipes, a modular approach with different types of modules has been chosen in order to be able to adapt to the shape of the pipe and to chose the most appropriate gait. The micro-robot has been designed for narrow pipes, a field in which there are not many prototypes. The micro-robot incorporates a camera module for visual inspection and several drive modules for locomotion and turn (helicoidal, inchworm, two degrees of freedom rotation). The control scheme is based on semi-distributed behavior control and is also described. A simulation environment is also presented for prototype testing.

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