Robust longitudinal motion planning using vehicle model inversion

Robust Hybrid Control for Autonomous Vehicle Motion Planning

The operation of an autonomous vehicle in an unknown, dynamic environment is a very complex problem, especially when the vehicle is required to use its full maneuvering capabilities, and to react in real time to changes in they operational environment. A possible approach to reduce the computational complexity of the motion planning problem for a nonlinear, high dimensional system, is based on ...

Vehicle motion planning using stream functions

Borrowing a concept from hydrodynamic analysis, this paper presents stream functions which satisfy Laplace’s equation as a local-minima free method for producing potential-field based navigation functions in two dimensions. These functions generate smoother paths (i.e. more suited to aircraft-like vehicles) than previous methods. A method is developed for constructing analytic stream functions ...

Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning

Follow up what we will offer in this article about passivity based model predictive control for mobile vehicle motion planning. You know really that this book is coming as the best seller book today. So, when you are really a good reader or you're fans of the author, it does will be funny if you don't have this book. It means that you have to get this book. For you who are starting to learn abo...

Vehicle longitudinal motion modeling for nonlinear control

The problem of modeling and controlling vehicle longitudinal motion is addressed for front wheel propelled vehicles. The chassis dynamics are modeled using relevant fundamental laws taking into account aerodynamic effects and road slop variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke‟s model. A highly nonlinear model is thus obtained and based upon ...

Underactuated Vehicle Control - Optimized Motion Planning