A novel approach in Optimal trajectory identification for Autonomous driving in racetrack

Antonelli, Dario; Nesi, L.; Pepe, Gianluca; Carcaterra, Antonio

doi:10.23919/ecc.2019.8795637

Cited by 13 publications

(14 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Non-linear optimal control algorithms recently developed by the authors [36,37] will be used to track kinematic references and forces exchanged on the ground. Such algorithms can be combined with reference trajectory generators [38,39] but can also incorporate the dynamics model and the power actuators by variational feedback control methods [40,41]. Therefore, it is possible to verify and confirm the validity of the results and then extend the work to the optimization of speed changes, changes of gaits, changes of direction, and optimal handling in the presence of obstacles and irregularities of the terrain [42,43].…”

Section: Discussionmentioning

confidence: 99%

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

et al. 2021

View full text Add to dashboard Cite

The purpose of the present paper is the identification of optimal trajectories of quadruped robots through genetic algorithms. The method is based on the identification of the optimal time history of forces and torques exchanged between the ground and the body, without any constraints on leg kinematics. The solutions show how it is possible to obtain similar trajectories to those of a horse’s walk but obtaining better performance in terms of energy cost. Finally, a map of the optimal gaits found according to the different speeds is presented, identifying the transition threshold between the walk and the trot as a function of the total energy spent.

show abstract

Section: Discussionmentioning

confidence: 99%

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

et al. 2021

View full text Add to dashboard Cite

show abstract

“…The control technique developed by the authors belongs to the class of variational controls but use a local optimality principle instead of a global one [4][5][6]. The problem statement is the classical one, with a performance index J ̅ , integral of the cost function ( , ) subject to the dynamic equation of the system, that is minimized (or maximized) along the time interval [0, T]:…”

Section: A Resume Of the Feedback Control Law Flopmentioning

confidence: 99%

“…This paper focuses on the analysis of critical obstacle avoidance problems in which the RT necessary to perform a safe maneuver doesn't reach the human capabilities. To achieve this task, the authors propose a robust control system suited for any vehicle as a first step to an ongoing research project of the Mechatronic and Vehicle Dynamic Lab of Sapienza [5][6][7]. The method is called Feedback Local Optimality Principle (FLOP) and belongs to the class of variational controls.…”

Section: Introductionmentioning

confidence: 99%

Car collision avoidance with velocity obstacle approach: Evaluation of the reliability and performace of the collision avoidance maneuver

Laurenza

Pepe

Antonelli

et al. 2019

2019 IEEE 5th International Forum on Research and Technology for Society and Industry (RTSI)

View full text Add to dashboard Cite

The obstacle avoidance maneuver is required for an autonomous vehicle. It is essential to define the system's performance by evaluating the minimum reaction times of the vehicle and analyzing the probability of success of the avoiding operation. This paper presents a collision avoidance algorithm based on the velocity obstacle approach that guarantees collision-free maneuvers. The vehicle is controlled by an optimal feedback control named FLOP, designed to produce the best performance in terms of safety and minimum kinetic collision energy. Dimensionless accident evaluation parameters are proposed to compare different crash scenarios.

show abstract

“…The OPTYRE grip sensor is part of the Sapienza University of Rome’s autonomous vehicle project, "Auto Sapiens", developed by the Vehicle Dynamics and Mechatronics Lab team. The OPTYRE provides in real-time the state of the grip of the tyre to control the vehicle during braking, acceleration and during cornering manoeuvres and allows excellent safe driving performance using suitable controllers to be achieved [27,28,29,30,31].…”

Section: Introductionmentioning

confidence: 99%

OPTYRE—Real Time Estimation of Rolling Resistance for Intelligent Tyres

Roveri

Pepe

Mezzani

et al. 2019

Sensors

View full text Add to dashboard Cite

The study of the rolling tyre is a problem framed in the general context of nonlinear elasticity. The dynamics of the related phenomena is still an open topic, even though few examples and models of tyres can be found in the technical literature. The interest in the dissipation effects associated with the rolling motion is justified by their importance in fuel-saving and in the context of an eco-friendly design. However, a general lack of knowledge characterizes the phenomenon, since not even direct experience on the rolling tyre can reveal the insights of the correlated different dissipation effects, as the friction between the rubber and the road, the contact kinematics and dynamics, the tyre hysteretic behaviour and the grip. A new technology, based on fibre Bragg grating strain sensors and conceived within the OPTYRE project, is illustrated for the specific investigation of the tyre dissipation related phenomena. The remarkable power of this wireless optical system stands in the chance of directly accessing the behaviour of the inner tyre in terms of stresses when a real-condition-rolling is experimentally observed. The ad hoc developed tyre model has allowed the identification of the instant grip conditions, of the area of the contact patch and allows the estimation of the instant dissipated power, which is the focus of this paper.

show abstract

A novel approach in Optimal trajectory identification for Autonomous driving in racetrack

Cited by 13 publications

References 9 publications

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

Quadrupedal Robots’ Gaits Identification via Contact Forces Optimization

Car collision avoidance with velocity obstacle approach: Evaluation of the reliability and performace of the collision avoidance maneuver

OPTYRE—Real Time Estimation of Rolling Resistance for Intelligent Tyres

Contact Info

Product

Resources

About