scholarly journals Trajectory generation for an on-road autonomous vehicle

2005 ◽  
Author(s):  
John Horst ◽  
Anthony Barbera
Keyword(s):  
Autonomous Vehicle ◽  
Trajectory Generation

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.

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.

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.

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