A Global Optimal Path Planning and Controller Design Algorithm for Intelligent Vehicles

Wang, Haiwei; Yu, Xuecai; Song, Houbing; Lü, Zhihan; Lloret, Jaime; Feng, Yuanjing

doi:10.1007/s11036-016-0778-5

Cited by 18 publications

(3 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…According to unknown information and known information on environmental information, path planning is divided into local path planning and global path planning. 3,4 There is no essential difference between the local path planning and global path planning. Local planning only considers the environment of global path planning more complicated, that is, the environment is dynamic.…”

Section: Introductionmentioning

confidence: 99%

RETRACTED: Design of basketball robot based on behavior-based fuzzy control

Zhi

Jiang

2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Aiming at the strong dependence on environmental information in traditional algorithms, the path planning of basketball robots in an unknown environment, and improving the safety of autonomous navigation, this article proposes a path planning algorithm based on behavior-based module control. In this article, fuzzy control theory is applied to the behavior control structure, and these two path planning algorithms are combined to solve the path planning problem of basketball robots in an unknown environment. First, the data of each sensor of the basketball robot configuration are simply fused. Then, the obstacle distance parameters in the three directions of front, left, and right are simplified and fuzzified. Then combined with the target direction parameters, the speed, and steering of the basketball robot are controlled by fuzzy rule reasoning to realize path planning. The simulation results show that the basketball robot can overcome the uncertainty in the environment, effectively achieve good path planning, verify the feasibility of the fuzzy control algorithm, and demonstrate the validity and correctness of the path planning strategy.

show abstract

Section: Introductionmentioning

confidence: 99%

RETRACTED: Design of basketball robot based on behavior-based fuzzy control

Zhi

Jiang

2020

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…A vehicle suspension system with interconnected air spring and the adjustable damper is studied in this paper, which is a continuous-time system. Differential game is a dynamic game method to solve the problem of a continuous-time system [24]. Therefore, the coordination game model of ride comfort and handling stability is established by differential game theory in this paper.…”

Section: Introductionmentioning

confidence: 99%

Research on Switching Interconnection Modes and Game Control of Interconnected Air Suspension

et al. 2019

View full text Add to dashboard Cite

To solve the contradiction between handling stability and ride comfort of vehicles with interconnected air suspension system (IASS) and reduce the energy consumption of air suspension with adjustable spring stiffness, a coordinated control for dynamic performance was designed based on the logic of switching interconnection modes and game control for the damper. The control system consists of a switching controller for air suspension interconnection modes and a distribution controller for the damping force. The switching controller determines the optimal air suspension interconnection mode by calculating the vehicle dynamic performance index in real-time. The distribution controller achieves a distribution for optimal damping force based on an infinite time differential game. veDYNA software that is a vehicle dynamics analysis software based on MATLAB/Simulink was used to verify the algorithm, and the accuracy was verified by a bench test. Finally, the results show this coordinated system can significantly improve the ride comfort and restrain the pitching motion. Compared with traditional suspension, the vertical acceleration decreases by 18.32% and the dynamic stroke decreases by more than 10% under the straight condition; the vertical acceleration decreases by 12.24% and the roll angle decreases by 1.26% under the steering condition.

show abstract

“…V2G communication systems display special characteristics, as vehicle mobility [6], geographic location of the vehicle, charge and discharge operations [7], conduction pattern, among others. Several security and privacy challenges in communications can affect the V2G system, therefore, confidential information, as identity of the vehicle, user´s identity, identification of the charging station, type of vehicle, time of charge and discharge, and localization of the vehicle must be protected.…”

Section: Introductionmentioning

confidence: 99%