Laser-based Obstacle Avoidance Algorithm for Four Driving/Steering Wheels Autonomous Vehicle

被引：0

作者：

Dumitrascu, B. ^{[1
]}

Filipescu, A. ^{[1
]}

Petrea, G. ^{[1
]}

Minca, Eugenia ^{[2
]}

Filipescu, S. ^{[3
]}

Voda, Alina ^{[4
]}

机构：

[1] Dunarea de Jos Univ Galati, Dept Automat & Elect Engn, Galati, Romania

[2] Valahia Univ Targoviste, Dept Automat Comp Sci & Elect Engn, Targoviste, Romania

[3] Univ Politehn Bucuresti, Bucharest, Romania

[4] Joseph Fourier Univ 1, CNRS, GIPSA Lab, Grenoble, France

来源：

2013 17TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2013年

关键词：

VARIABLE-STRUCTURE CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper an algorithm for trajectory-tracking with obstacle avoidance for autonomous vehicles is presented. The algorithm tracks a trajectory composed of an intended global trajectory that was previously generated and local obstacle avoidance trajectories that are created when an obstacle is detected by the laser. A discrete-time sliding-mode controller is used by the autonomous vehicle to follow the global trajectory and the local obstacle avoidance trajectories. Quintic equations are used to generate the paths used by the vehicle to avoid the obstacles. The velocity, acceleration, angular velocity and angular acceleration profiles are calculated for the generated paths and fed to the sliding-mode controller.

引用

页码：187 / 192

页数：6

共 50 条

[1] Trajectory tracking of four-wheel driving and steering autonomous vehicle under extreme obstacle avoidance condition
Li, Yuxing
Cai, Yingfeng
Sun, Xiaoqiang
Wang, Hai
Jia, Yunyi
He, Youguo
Chen, Long
Chao, Yang
VEHICLE SYSTEM DYNAMICS, 2024, 62 (03) : 601 - 622
[2] Autonomous driving and obstacle avoidance of intelligent vehicle based on tentacles algorithm construction and correction
Niu, Runxin
Mei, Tao
Xia, Jingting
Zhao, Pan
Chen, Jiajia
Qiche Gongcheng/Automotive Engineering, 2010, 32 (12): : 1083 - 1087
[3] Autonomous Visual Navigation and Laser-Based Moving Obstacle Avoidance
Cherubini, Andrea
Spindler, Fabien
Chaumette, Francois
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2014, 15 (05) : 2101 - 2110
[4] Laser-Based Obstacle Avoidance and Road Quality Detection for Autonomous Bicycles
Stasinopoulos, Sotirios
Zhao, Mingguo
PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT AUTOMATION CONFERENCE: INTELLIGENT TECHNOLOGY AND SYSTEMS, 2015, 338 : 215 - 223
[5] Obstacle Avoidance Control for Four Wheels Independent Steering Automatic Guided Vehicles
Pratama, Pandu Sandi
Gulalkari, Amruta Vinod
Kim, Jin Wook
Lee, Chung Hwan
Yeu, Tae-Kyeong
Hong, Sup
Kim, Hak Kyeong
Kim, Sang Bong
AETA 2015: RECENT ADVANCES IN ELECTRICAL ENGINEERING AND RELATED SCIENCES, 2016, 371 : 603 - 618
[6] Shared steering control combined with driving intention for vehicle obstacle avoidance
Li, Mingjun
Song, Xiaolin
Cao, Haotian
Huang, Zhi
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2019, 233 (11) : 2791 - 2808
[7] Laser-based obstacle detection and avoidance system
Torrie, MW
Veeramachaneni, S
Abbott, B
ROBOTIC AND SEMI-ROBOTIC GROUND VEHICLE TECHNOLOGY, 1998, 3366 : 2 - 7
[8] An Improved Pure Pursuit Algorithm for Four-Wheel-Steering Autonomous Driving Vehicle
Quan Miaomiao
Zhai Yong
Jiang Yan
Sun Yinjian
Xu Dalu
Gong Jianwei
SENSORS, MECHATRONICS AND AUTOMATION, 2014, 511-512 : 958 - 962
[9] Obstacle avoidance method of autonomous vehicle based on fusion improved A*APF algorithm
Qian, Yubin
Sun, Hongtao
Feng, Song
BULLETIN OF THE POLISH ACADEMY OF SCIENCES-TECHNICAL SCIENCES, 2023, 71 (02)
[10] Discrete-Time Sliding-Mode Control of Four Driving-Steering Wheels Autonomous Vehicle
Dumitrascu, Bogdan
Filipescu, Adrian
Minzu, Viorel
Voda, Alina
Minca, Eugenia
2011 30TH CHINESE CONTROL CONFERENCE (CCC), 2011, : 3620 - 3625

← 1 2 3 4 5 →