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Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers

Acosta Lúa, Cuauhtémoc ; De Jesus Díaz, Gerardo ; Di Gennaro, Stefano ; Kabbani, Tarek Cazzulani, Gabriele ; Gabriele Cazzulani

Mathematical problems in engineering, 2018-01, Vol.2018, p.1-10 [Periódico revisado por pares]

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Título:
Vehicle Reference Generator for Collision-Free Trajectories in Hazardous Maneuvers
Autor: Acosta Lúa, Cuauhtémoc ; De Jesus Díaz, Gerardo ; Di Gennaro, Stefano ; Kabbani, Tarek
Cazzulani, Gabriele ; Gabriele Cazzulani
Assuntos: Active control ; Adaptation ; Automation ; Collaboration ; Collision avoidance ; Collision dynamics ; Controllers ; International conferences ; Maneuvers ; Mathematical models ; Optimization techniques ; Potential fields ; Robotics ; Robots ; Tracking ; Trajectories ; Vehicles
É parte de: Mathematical problems in engineering, 2018-01, Vol.2018, p.1-10
Descrição: This paper presents a reference generator for ground vehicles, based on potential fields adapted to the case of vehicular dynamics. The reference generator generates signals to be tracked by the vehicle, corresponding to a trajectory avoiding collisions with obstacles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The reference generator is used with a controller to ensure the tracking of the accident-free reference. This approach can be used for vehicle autonomous driving or for active control of manned vehicles. Simulation results, presented for the autonomous driving, consider a scenario inspired by the so-called moose (or elk) test, with the presence of other collaborative vehicles.
Editor: New York: Hindawi
Idioma: Inglês

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