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1 edition of Optimizing safe motion for autonomous vehicles found in the catalog.

Optimizing safe motion for autonomous vehicles

Masahide Shirasaka

Optimizing safe motion for autonomous vehicles

by Masahide Shirasaka

  • 161 Want to read
  • 11 Currently reading

Published by Naval Postgraduate School, Available from National Technical Information Service in Monterey, Calif, Springfield, Va .
Written in English


About the Edition

There are two goals for autonomous vehicle navigation planning: shortest path and safe path. These goals are often in conflict; path safety is more important. Safety of the autonomous vehicle"s navigation is determined by the clearances between the vehicle and obstacles. Because a Voronoi boundary is the set of points locally maximizing the clearance from obstacles, safety is maximized on it. Therefore Voronoi Diagrams are suitable for motion planning of autonomous vehicles. We use the derivative of curvature k of the vehicle motion (dk/ds) as the only control variable for the vehicle where s is the length along the vehicle trajectory. Previous motion planning of the autonomous mobile robot Yamabico-11 at Naval Postgraduate School used a path tracking method. Before the mission began the vehicle was given a track to follow; motion planning consisted of calculating the point on the track closest to the vehicle and calculating dk/ ds then steering the vehicle to get onto track. We propose a method of planning safe motions of the vehicle to calculate optimal dk/ds at each point directly from the information of the world without calculating the track to follow. This safe navigation algorithm is fundamentally different from the path tracking using a path specification. Additionally motion planning is simpler and faster than the path tracking method. The effectiveness of this steering function for vehicle motion control is demonstrated by algorithmic simulation and by use on the autonomous mobile robot Yamabico 11 at the Naval Postgraduate School.

Edition Notes

Statement Masahide Shirasaka
The Physical Object
Pagination67 p. ;
Number of Pages67
ID Numbers
Open LibraryOL25481342M

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unmanned vehicles, input commands are delivered to the actuators that allow the vehicle to produce motion: engine fuel valves, amplified electric motors, brakes, and many others. Autonomous vehicles generate their own decisions at the planning level. These govern how to drive the vehicle actuators, which cause the platform to move. By combining our extensive experience with leading business and technology partners, we power connected vehicles, smart mobility and, ultimately, autonomous driving. Headquartered in Amsterdam with offices in 30 countries, TomTom’s technologies are trusted by .

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Optimizing safe motion for autonomous vehicles by Masahide Shirasaka Download PDF EPUB FB2

Motion planning is a core technique for autonomous driving. Nowadays, there still exists a lot of challenges in motion planning for autonomous driving in complicated environments due to: 1) The.

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Optimizing safe motion for autonomous vehicles Torsiello, Kevin A. Acoustic positioning of the NPS Autonomous Underwater Vehicle (AUV II) during hover conditions Masters Theses   An Auto-tuning Framework for Autonomous Vehicles • Many AD motion planners generate trajectories by optimizing a reward/cost functional.

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FOAD: Fast optimization-based autonomous driving motion planner Jianyu Chen, Changliu Liu, and Masayoshi Tomizuka American Control Conference, IEEE,pp. Brumitt B, Stentz A, Hebert M and Group T () Autonomous Driving with Concurrent Goals and Multiple Vehicles, Autonomous Robots,(), Online publication date: 1-Sep Skiadas P and Koussoulas N () Motion Planning for Drift-Free Nonholonomic Systems under a Discrete Levels Control Constraint, Journal of Intelligent and.

By immersing himself in the autonomous vehicle world, he has accumulated a wealth of knowledge around the technology, issues and potential solutions that will make self-driving vehicles a reality. His passion for the safe deployment of autonomous vehicles has made him a popular speaker at automotive conferences worldwide.

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