scholarly journals Solutions for Building a System to Support Motion Control for Autonomous Vehicle

2020 ◽  
Vol 5 (3) ◽  
pp. 583-588
Author(s):  
Quach Hai Tho ◽  
Huynh Cong Phap ◽  
Pham Anh Phuong
Keyword(s):  
Motion Control ◽  
Autonomous Vehicle ◽  
Support Motion

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

Command-filter-adaptive-based lateral motion control for autonomous vehicle

2022 ◽  
Vol 121 ◽  
pp. 105044
Author(s):  
Junda Zhang ◽  
Jian Wu ◽  
Jianmin Liu ◽  
Qing Zhou ◽  
Jianwei Xia ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Vehicle ◽  
Lateral Motion ◽  
Command Filter

scholarly journals Risk-based autonomous vehicle motion control with considering human driver’s behaviour

2019 ◽  
Vol 107 ◽  
pp. 1-14 ◽  
Author(s):  
Chongfeng Wei ◽  
Richard Romano ◽  
Natasha Merat ◽  
Yafei Wang ◽  
Chuan Hu ◽  
...  
Keyword(s):  
Motion Control ◽  
Autonomous Vehicle ◽  
Vehicle Motion

scholarly journals Impact motion control of a flexible dual-arm space robot for capturing a spinning object

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985753
Author(s):  
Xiali Li ◽  
Licheng Wu
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Initial Conditions ◽  
Autonomous Vehicle ◽  
Stable State ◽  
Momentum Conservation ◽  
Space Robot ◽  
Dynamics Response ◽  
The Impact ◽  
Dual Arm

As an autonomous vehicle that moves on the space orbit, a space robot needs to be carefully treated on the motion planning and control method. In this article, the optimal impact and postimpact motion control of a flexible dual-arm space robot capturing a spinning object are considered. Firstly, the dynamic model of the robot systems is built by using Lagrangian formulation. The flexible links are modeled as Euler–Bernoulli beams of two bending modes. Through simulating the system’s postimpact dynamics response, the initial conditions are obtained from the impact model. Next, the initial velocities of base and joint are adjusted to minimize the velocity of the base after the capture according to generalized momentum conservation. After the capture, a proportional–derivative controller is designed to keep the robot system’s stabilization. The simulation results show that joint angles of base and manipulators reach stable state quickly, and motions of the space robots also induce vibrating motions of the flexible manipulators.

scholarly journals Driver-centred Autonomous Vehicle Motion Control within A Blended Corridor

2019 ◽  
Vol 52 (5) ◽  
pp. 212-217 ◽  
Author(s):  
Chongfeng Wei ◽  
Richard Romano ◽  
Foroogh Hajiseyedjavadi ◽  
Natasha Merat ◽  
Erwin Boer
Keyword(s):  
Motion Control ◽  
Autonomous Vehicle ◽  
Vehicle Motion
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