The aim of this article is to analyze the effect of kinematic parameters on a novel proposed on–line motion planning algorithm for an articulated vehicle based on Model Predictive Control. The kinematic parameters that are going to be investigated are the vehicle’s velocity, the maximum allowable change in the articulated steering angle, the safety distance from the obstacles and the total numb...

This paper presents a complete control strategy of the active return-to-center (RTC) control for electric power steering (EPS) systems. We first establish the mathematical model of the EPS system and analyze the source and influence of the self-aligning torque (SAT). Second, based on the feedback signals of steering column torque and steering wheel angle, we give the trigger conditions of a sta...

In this paper we have studied the electric power steering system for a front wheelsteered, rear-wheel driven four wheels vehicle. A controller has been designed for our model with the help of assist characteristics curves and PID action. We have carried out simulation on different types of vehicle paths which include circular and moose test path. We chose two different cases of steering and for...

Xiaojun Wan,Gang Liu * Key Laboratory of Modern Precision Agriculture System Integration Research, China Agricultural University, P. O. Box125, Qinghuadonglu 17, Haidian District, Beijing, 100083, P. R. China * Corresponding author, Address: P. O. Box 125, China Agricultural University, Qinghua Donglu 17, Haidian District, Beijing, 100083, P. R. China, Tel:+86-10-62736741, Fax:+86-10-62736746, ...

We placed locusts in a wind tunnel using a loose tether design that allowed for motion in all three rotational degrees of freedom during presentation of a computer-generated looming disc. High-speed video allowed us to extract wing kinematics, abdomen position and 3-dimensional body orientation. Concurrent electromyographic (EMG) recordings monitored bilateral activity from the first basalar de...

The development of effective autonomous vehicles is, in today’s day and age, an undoubtedly popular application of research in machine learning and control. One of the most fundamental tasks in the design of algorithms to control autonomous vehicles is steering angle prediction based on realtime driving data. In this paper, we discuss the application of techniques in supervised learning to pred...

In this paper, we apply the attention mechanism to autonomous driving for steering angle prediction. We propose the first model, applying the recently introduced sparse attention mechanism to visual domain, as well as the aggregated extension for this model. We show the improvement of the proposed method, comparing to no attention as well as to different types of attention.

We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem of generating optimal motion splines. There has been little work in trajectory generation for vehicles with all-wheel steering capability compared to the Ackermann, differential-drive, or omnidirectional mobility syst...

This paper aims to develop a driver steering model that can capture driver’s key steering mechanisms from a control engineering point of view. Analyses with Double Lane Change (DLC) vehicle test data suggest that, instead of following the traditional concept of trajectory planning, drivers use target points located along the centerline of the lane they are changing to as references for control....