Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles
نویسندگان
چکیده
منابع مشابه
Obstacle avoidance for an autonomous vehicle using force field method
This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...
متن کاملAn Mpc Algorithm with Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles
This article presents a model predictive control based obstacle avoidance algorithm for autonomous ground vehicles in unstructured environments. The novelty of the algorithm is the simultaneous optimization of speed and steering without a priori knowledge about the obstacles. Obstacles are detected using a planar LIDAR sensor and a multi-phase optimal control problem is formulated to optimize t...
متن کاملAdvances in Autonomous Obstacle Avoidance for Unmanned Surface Vehicles
The Space and Naval Warfare Systems Center, San Diego has been involved in the continuing development of obstacle avoidance for unmanned surface vehicles (USVs) towards the aim of a high level of autonomous navigation. An autonomous USV can fulfill a variety of missions and applications that are of increasing interest for the US Navy and other Department of Defense and Department of Homeland Se...
متن کاملdevelopment and implementation of an optimized control strategy for induction machine in an electric vehicle
in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...
15 صفحه اولDeformable Rapidly-Exploring Random Trees
In this paper, using the Hypercube Diagonal Experiment we first investigate the convergence rates of samplingbased path-planning algorithms in terms of the dimensionnality of the search space. We show that the probability of sampling a point that improves the solution decreases exponentially with the dimension of the problem. We then analyze how the samples can be repositioned in the search spa...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Sensors
سال: 2021
ISSN: 1424-8220
DOI: 10.3390/s21062244