This paper addresses a planning approach based on B-splines for successively generated trajectories. Additionally, the lateral controller which was used to calculate the steering angle is described and the method how the required parameters were determined is introduced. It is explained how the output of a perception system is used to generate control points for the trajectory and how the input...

At the onset of each flight bout in flies, neural circuits in the CNS must rapidly integrate multimodal sensory stimuli and synchronously engage hinges of the left and right wings for coordinated wing movements. Whereas anatomical and physiological investigations of flight have been conducted on larger flies, molecular genetic studies in Drosophila have helped identify neurons that mediate vari...

This paper describes an experimental study focusing onto the way drivers use the steering wheel while performing a 2D tracking task. The stimulus during this task was a steering wheel angle signal recorded in real situations involving turns and straight lines performed at about 30 km/h. The hand positions of 20 volunteers were recorded in 6 steering scenarios involving 7 road geometries using a...

Recently, automatic steering systems for emergency obstacle avoidance have been studied extensively. The control input of such active steering control systems can be classified into the steering angle and the steering torque input. The steering torque based control provides some degree of freedom for drivers to control the vehicle motion, thus it has potential for development as steering assist...

Trajectory tracking is an important aspect of autonomous vehicles. The idea behind trajectory tracking is the ability of the vehicle to follow a predefined path with zero steady state error. The difficulty arises due to the nonlinearity of vehicle dynamics. Therefore, this paper proposes a stable tracking control for an autonomous vehicle. An approach that consists of steering wheel control and...

This report presents achievements of the MOU 313. “Lateral Control of Heavy Duty Vehicles for Automated Highway Systems” in the year 1998-1999. The goal of the project is to demonstrate lane following by automatic steering for tractor semi-trailer vehicles. Towards this goal, a class eight truck and a 45 feet long trailer were instrumented. The hardware development was a major effort in this ye...

according to high costs of phase shifters in antenna arrays, new methods for beam steering without phase shifter were introduced. frequency diverse array (fda) concept is another approach to beam steering problem. in this structure, the subsequent antenna elements are fed with stepped discrete frequencies causing continuous scanning of space in time. so a range-angle dependent scanning is made ...

The paper addresses three important topics in mobile robotics. These are the path follower, the multi-sensors and the steering fuzzy controllers for wheeled mobile robot. This paper presents a novel computer vision methodology for building a system capable of determining the presence of a path follower, tracking the objects on that path, and recognizing the objects shape in vertical or in horiz...

To navigate through the world, animals must stabilize their path against disturbances and change direction to avoid obstacles and to search for resources [1, 2]. Locomotion is thus guided by sensory cues but also depends on intrinsic processes, such as motivation and physiological state. Flies, for example, turn with the direction of large-field rotatory motion, an optomotor reflex that is thou...

Unmanned Aerial Vehicles (UAVs) are used for many missions, including weather reconnaissance, search and rescue assisting operations over seas and mountains, aerial photographing and mapping, fire detection, and traffic control. Autonomous operation of UAVs requires the development of control systems that can work without human support for long time periods. The path planners, which generate co...