Conditional Artificial Potential Field-Based Autonomous Vehicle Safety Control with Interference of Lane Changing in Mixed Traffic Scenario

Gao, Kai; Yan, Di; Yang, Fan; Xie, Jin; Liu, Li; Du, Ruxu; Xiong, Naixue

doi:10.3390/s19194199

Cited by 40 publications

(27 citation statements)

References 34 publications

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“…W ITH the rapid development in wireless communication technology, the application of wireless sensor networks (WSNs) has rapidly increased, such as those in wildlife protection [1], environmental monitoring [2], traffic management [3], disaster management [4], and medical care [5]. Owing to the wireless medium and constrained nature of resources [6] of the sensors used in WSNs, source location privacy (SLP) faces more severe challenges compared to traditional networks.…”

Section: Introductionmentioning

confidence: 99%

A Ring-Based Routing Scheme for Distributed Energy Resources Management in IIoT

et al. 2020

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Recently, Distributed Energy Resources (DERs) have been utilized with increasing frequency in Industrial Internet of Things (IIoT) to deal with energy and environmental challenges. IIoT with wireless communication technology, which is easy to be intercepted, often facing various attack. For the safety of the network, more complex algorithms need to be run on IIoT, but the action need more energy. In addition, in some application scenarios, the location where the packets were generated indicates that an event occurred. An attacker can find the sensor node through a backtracking attack, which is equivalent to reaching the place where the event occurred. In order to hide the location information of the event, it is necessary to protect source location privacy (SLP), which will also increase the energy consumption of IIoT. If only the traditional battery is used to power the nodes in IIoT, the lifetime of the system will be limited. When IIoT is deployed outdoors, it is often difficult to replace the battery. The existence of lakes make IIoT have coverage holes during deployment. In order to implement SLP and make the system work for a long time in the environment with deployment holes, we use DERs. Herein, we propose an SLP protection scheme based on phantom nodes, rings, and fake paths (PRFs) for IIoT. To increase the safety time of the network, the PRFs dynamically selects the phantom nodes. To adapt to a complex deployment environment, the ring can be flexibly deployed according to the terrain. The PRFs uses fake paths to confuse attackers. We integrate DERs technology into PRFs, such as using solar power modules, looking forward to extending the lifetime of the system.The experimental results proved that the PRFs could efficiently reduce backtracking attacks while maintaining a balance between security and network energy consumption of IIoT.

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Section: Introductionmentioning

confidence: 99%

A Ring-Based Routing Scheme for Distributed Energy Resources Management in IIoT

et al. 2020

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“…Driven by the labor shortage, the need for safe production processes, and people's demand for a comfortable life, automation technology has gradually penetrated every aspect of production and life in recent decades [1,2]. For example, automated guided vehicles (AGV) have been broadly applied to the handling of heavy objects or large devices in production environments [3], multi-axis CNC machines have been extensively used to machine parts with sculptured surfaces in the fields of machinofacture and aerospace [4], robots have been developed for welding, spraying and assembling in smart factories [5], firefighting robots have come into service in order to reduce the risks that human firefighters face [6], the Roomba promises its customers "effortless cleaning" or robot vacuums allow owners to "clean your floors without lifting a finger" [7], and feeding assistive robots have been proposed to help older people and people with disabilities in their daily life [8].…”

Section: Introductionmentioning

confidence: 99%

“…In order to overcome this practical hurdle, a heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) is proposed in this paper. The main contributions of this manuscript are as follows: (1) A new lateral error model is proposed according to the kinematic relationship of the preview node, fixed onto the vehicle body, and the track node, located in the reference trajectory, in order to describe the lateral motion of an autonomous road sweeper. The model shows that the system is underactuated.…”

Section: Introductionmentioning

confidence: 99%

HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper

Zeng

Liu

et al. 2020

Sensors

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How to make a controller robust and stable to reject the disturbance of uncertainty is an inevitable challenge. Aiming at addressing the lateral control problem for an autonomous road sweeper, a heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) is proposed in this paper. To eliminate the lateral error and the heading error at the same time, a new model, called the heading-error-based model, is proposed for lateral motion, and the Lyapunov function was employed to explore the convergence ability of the heading error and lateral error. Since the heading-error-based model is first order, the ADRC is designed as first order and linear, and each module of the HFO-LADRC has been devised in detail. To ensure solution accuracy, the fourth order Runge–Kutta method was adopted as the differential system solver, and a typical ring scenario and a double lane-changing scenario were designed referencing the standard. Considering the obvious influence, wheelbase uncertainty, steering ratio uncertainty and Gaussian white noise disturbance were taken into account for the tests. The results illustrate that, in the case of both wheelbase uncertainty and steer ratio uncertainty, the HFO-LADRC has strong robustness and stability compared with a typical pure pursuit controller and classical SO-LADRC.

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“…An air gap membrane distillation module with energy recovery can be used for desalination experiments and the system can be optimized using response surface methodology [21]. The parameters of cold feed inlet temperature (T1), hot feed inlet temperature (T3) and feed flow rate (F) are considered, and the membrane flux (J) and thermal efficiency (GOR) are the targets [22]. Based on the regression model, it was found that T3 had the greatest impact on both J and GOR.…”

Section: Introductionmentioning

confidence: 99%

Energy Management Optimization of Open-Pit Mine Solar Photothermal-Photoelectric Membrane Distillation Using a Support Vector Machine and a Non-Dominated Genetic Algorithm

Zhang

Jiang

et al. 2020

IEEE Access

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As a distributed energy source, open-pit mine solar photothermal-photoelectric membrane distillation can convert solar energy into heat and electrical energy to provide power for membrane distillation water purification system. In mine sewage treatment, the solar membrane distillation system has the advantages of high desalination rate, good water quality and low cost. However, this system has not been widely promoted and applied because of its high energy consumption and low membrane flux. Different operating parameters have a greater impact on the operating efficiency of the solar membrane distillation system. In this study, a natural cooling film distillation system was built, and the response surface method was used to analyze it, and a multi-objective optimization algorithm was used to optimize the operating conditions and improve the energy efficiency of the system. In our experiment, the hot end feed temperature, hot end feed flow rate, cold end cooling water flow rate, and membrane area were used as variables, and the membrane flux, thermal efficiency, and energy consumption values were investigated as target values. We used a support vector machine (SVM) with improved fitting, and substituted the fitting prediction model into the response surface method for the relationship between the variable and the target value collaborative analysis was followed by substituting the model into a non-dominated sorting genetic algorithm-II (NSGA-II). After the optimization operation, the optimal working conditions were obtained to improve the operating efficiency of the solar membrane distillation system, which will enable open-pit mine prosumers to realize intelligent management of solar energy generation, storage and consumption simultaneously.

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Conditional Artificial Potential Field-Based Autonomous Vehicle Safety Control with Interference of Lane Changing in Mixed Traffic Scenario

Cited by 40 publications

References 34 publications

A Ring-Based Routing Scheme for Distributed Energy Resources Management in IIoT

A Ring-Based Routing Scheme for Distributed Energy Resources Management in IIoT

HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper

Energy Management Optimization of Open-Pit Mine Solar Photothermal-Photoelectric Membrane Distillation Using a Support Vector Machine and a Non-Dominated Genetic Algorithm

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