Inverse dynamics of vehicle minimum time manoeuvre for collision avoidance problem

2016 ◽  
Vol 9 (2) ◽  
pp. 120 ◽  
Author(s):  
Yingjie Liu ◽  
Junsheng Jiang
Keyword(s):  
Collision Avoidance ◽  
Inverse Dynamics ◽  
Minimum Time ◽  
Avoidance Problem

scholarly journals Minimum Time Approach to Emergency Collision Avoidance by Vehicle Handling Inverse Dynamics

2015 ◽  
Vol 2015 ◽  
pp. 1-9
Author(s):  
Wang Wei ◽  
Bei Shaoyi ◽  
Yang Hui ◽  
Wang Yongzhi ◽  
Zhang Lanchun
Keyword(s):  
Optimal Control ◽  
Collision Avoidance ◽  
High Speed ◽  
Inverse Dynamics ◽  
Avoidance Performance ◽  
Control Object ◽  
Minimum Time ◽  
Driving Safety ◽  
Multiple Shooting ◽  
Vehicle Handling

Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering emergency collision avoidance with high speed. And it is also the premise and one of the necessary conditions of vehicle active safety. A new technique of vehicle handling inverse dynamics which can evaluate the emergency collision avoidance performance is proposed. Based on optimal control theory, the steering angle input and the traction/brake force imposed by driver are the control variables; the minimum time required to complete the fitting biker line change is the control object. By using the improved direct multiple shooting method, the optimal control problem is converted into a nonlinear programming problem that is then solved by means of the sequential quadratic programming. The simulation results show that the proposed method can solve the vehicle minimum time maneuver problem, and can compare the maneuverability of two different vehicles that complete fitting biker line change with the minimum time and the correctness of the model is verified through real vehicle test.

Minimum time overtaking problem of vehicle handling inverse dynamics based on interval mathematics

2018 ◽  
Vol 233 (6) ◽  
pp. 1534-1545 ◽  
Author(s):  
Youqun Zhao ◽  
Wenxin Zhang ◽  
Xinglong Zhang ◽  
Fen Lin
Keyword(s):  
Inverse Dynamics ◽  
Age Groups ◽  
Pseudospectral Method ◽  
Unmanned Vehicles ◽  
Minimum Time ◽  
Vehicle Handling ◽  
Interval Mathematics ◽  
Interval Analysis Method ◽  
Driving Assistance ◽  
Driving Assistance System

To analyze the influence of uncertain factors on minimum time overtaking, interval mathematics is used to describe the uncertainties, and the overtaking safety distance is calculated using interval analysis method. In addition, vehicle handling inverse dynamics is proposed in this paper. In this method, the driver-handling input can be obtained without the modeling of driver. The optimal control problem is first converted into a nonlinear programming problem based on Gauss pseudospectral method. Then sequential quadratic programming is applied to get the solution. The simulation results show that the overtaking behavior will be significantly different, if the drivers’ age groups or vehicles’ braking system parameters are different. Besides, the influence of different drivers’ estimate time is critical. The subjective judgments of the drivers are considered in this paper to realize the user-friendly design. This method may provide a reference for the research of unmanned vehicles and driving assistance system.

Automatic Control of Underway Replenishment Maneuvers in a Random Sea

1978 ◽  
Vol 22 (01) ◽  
pp. 20-28
Author(s):  
Reidar Alvestad
Keyword(s):  
Computer Simulation ◽  
Automatic Control ◽  
Collision Avoidance ◽  
Nonlinear Interaction ◽  
Interaction Forces ◽  
Random Seas ◽  
Close Proximity ◽  
Controller Performance ◽  
Hybrid Computer ◽  
Avoidance Problem

This paper describes a hybrid computer simulation of two ships performing replenishment operations in random seas. Such operations present collision hazards due to the nonlinear interaction forces and moments which result from close proximity maneuvering while underway. Maneuvers are simulated to demonstrate automatic controller performance during station-keeping, station-changing, and the approach and breakaway phases of typical underway replenishment (UNREP) operations. Results indicate that automatic control should be considered as a possible solution to the UNREP collision avoidance problem.

scholarly journals Velocity Obstacle Approaches for Multi-Agent Collision Avoidance

2019 ◽  
Vol 07 (01) ◽  
pp. 55-64 ◽  
Author(s):  
James A. Douthwaite ◽  
Shiyu Zhao ◽  
Lyudmila S. Mihaylova
Keyword(s):  
Collision Avoidance ◽  
Critical Analysis ◽  
Monte Carlo Analysis ◽  
The Other ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Velocity Obstacle ◽  
Scalable Computation ◽  
Avoidance Problem

This paper presents a critical analysis of some of the most promising approaches to geometric collision avoidance in multi-agent systems, namely, the velocity obstacle (VO), reciprocal velocity obstacle (RVO), hybrid-reciprocal velocity obstacle (HRVO) and optimal reciprocal collision avoidance (ORCA) approaches. Each approach is evaluated with respect to increasing agent populations and variable sensing assumptions. In implementing the localized avoidance problem, the author notes a problem of symmetry not considered in the literature. An intensive 1000-cycle Monte Carlo analysis is used to assess the performance of the selected algorithms in the presented conditions. The ORCA method is shown to yield the most scalable computation times and collision likelihood in the presented cases. The HRVO method is shown to be superior than the other methods in dealing with obstacle trajectory uncertainty for the purposes of collision avoidance. The respective features and limitations of each algorithm are discussed and presented through examples.

Collision avoidance for mobile robots based on artificial potential field and obstacle envelope modelling

2016 ◽  
Vol 36 (3) ◽  
pp. 318-332 ◽  
Author(s):  
Zhenyu Wu ◽  
Guang Hu ◽  
Lin Feng ◽  
Jiping Wu ◽  
Shenglan Liu
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Potential Field ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Artificial Potential Field ◽  
Content Type ◽  
Negative Pole ◽  
Avoidance Problem ◽  
Three Dimensional Space

Purpose This paper aims to investigate the collision avoidance problem for a mobile robot by constructing an artificial potential field (APF) based on geometrically modelling the obstacles with a new method named the obstacle envelope modelling (OEM). Design/methodology/approach The obstacles of arbitrary shapes are enveloped in OEM using the primitive, which is an ellipse in a two-dimensional plane or an ellipsoid in a three-dimensional space. As the surface details of obstacles are neglected elegantly in OEM, the workspace of a mobile robot is made simpler so as to increase the capability of APF in a clustered environment. Findings Further, a dipole is applied to the construction of APF produced by each obstacle, among which the positive pole pushes the robot away and the negative pole pulls the robot close. Originality/value As a whole, the dipole leads the robot to make a derivation around the obstacle smoothly, which greatly reduces the local minima and trajectory oscillations. Computer simulations are conducted to demonstrate the effectiveness of the proposed approach.

scholarly journals Vehicle Optimal Velocity Curves for Minimum-Time Maneuver

2014 ◽  
Vol 6 ◽  
pp. 194868 ◽  
Author(s):  
Li-xia Zhang ◽  
Fu-quan Pan ◽  
Xiao-yuan Chen ◽  
Feng-yuan Wang ◽  
Jun Lu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Inverse Dynamics ◽  
Minimum Time ◽  
Curvature Radius ◽  
Minimal Amount ◽  
Optimal Velocity ◽  
Moving Vehicles ◽  
New Perspective ◽  
Vehicle Travel Time ◽  
The Given

A problem in vehicle minimum-time maneuver is the assumption that a vehicle passes through a given path in a minimal amount of time without deviating from the boundary of the given path. Vehicle handling inverse dynamics provides a new perspective to solve such problem. Based on inverse dynamics, this paper transformed the problem of optimal vehicle velocity for minimum-time maneuver into that of optimal control with the objective function of minimum time. The path for minimum vehicle travel time and the optimal control model were established. The optimal velocity curves for three types of paths, namely, monotonically increasing path, monotonically decreasing path, and constant radius path, were analyzed. On this basis, the optimal velocity curves were solved for two kinds of concrete paths: a path of decreasing curvature radius followed by a path of increasing curvature radius and another path of increasing curvature radius followed by a path of decreasing curvature radius. Nine cases of possible optimal velocity curves were acquired. The optimal velocity curve of the given path, that is, a parabola followed by a semicircle, was obtained. Optimal velocity curves can be used as reference for vehicle minimum-time maneuver, which is an important issue for driver safety in fast-moving vehicles.

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