NDLI: Optimal motion generation for autonomous vehicle in maze-like environment

Content Provider	IEEE Xplore Digital Library
Author	Long Han Quoc Huy Do Chunzhao Guo Mita, S.
Copyright Year	2011
Description	Author affiliation: Research Center for Smart Vehicles, Toyota Technological Institute, 2-12-1 Tempaku Nagoya, 468-8511, Japan (Long Han; Quoc Huy Do; Chunzhao Guo; Mita, S.)
Abstract	In car-like autonomous vehicle systems, it is an essential task of generating the motion commands according to a given path/strategy. Quite a few theories and techniques have been proposed for the generation of the motion commands in autonomous vehicles, such as pure pursuit, Stanley's nonlinear feedback, chained-form control of kinematic model and the linearized optimal control of dynamic model. Here a non-linear optimization algorithm based on the vehicle's kinematic model and the actuators' model is proposed, which combines the control system dynamic behaviors and gives out the control sequences directly. It starts with modeling the local kinematic behavior and actuators' dynamics. Then online optimization algorithm is applied to the objective function of minimizing the energy cost, execution time and tracking error with some trade-off weights among them. The experiments showed that it worked well for vehicles running in maze-like environment.
Starting Page	1299
Ending Page	1304
File Size	898669
Page Count	6
File Format	PDF
ISBN	9781457721984
ISSN	21530009
e-ISBN	9781457721977
DOI	10.1109/ITSC.2011.6082945
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Vehicles Equations Kinematics Optimization Actuators Vehicle dynamics
Content Type	Text
Resource Type	Article

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