Continuous-curvature paths for autonomous vehicles

Abstract-In this paper, a human-machine shared control strategy is proposed for the navigation control of a wheelchair, employing both brain-machine control mode and autonomous control mode. In the brain-machine control mode, contrary to the traditional four-direction control signals, a novel brain-machine interface using steadystate visual evoked potentials is presented, which utilizes two brain signals to produce a polar polynomial trajectory. The produced trajectory is continuous in curvature without violating dynamic constraints of the wheelchair. In the autonomous control mode, the synthesis of angle-based potential field and vision-based simultaneous localization and mapping technique is proposed to guide the robot navigating among the obstacles. Extensive experiments have been conducted to test the developed shared control wheelchair in several scenarios with a number of volunteers, and the results have verified the effectiveness of the proposed shared control scheme.Index Terms-Angle potential field, brain-machine interface (BMI), shared control, vision-based simultaneous localization and mapping (SLAM).

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“…Motivated by the pioneer works in [23]- [25] and [26], a PPT is used to connect two line segments tangentially. As shown in Fig.…”

Section: Polar Polynomial Trajectory (Ppt)mentioning

confidence: 99%

Human Cooperative Wheelchair With Brain–Machine Interaction Based on Shared Control Strategy

Zhao

Duan

et al. 2017

IEEE/ASME Trans. Mechatron.

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“…After deciding μ max , the trajectory of an emergency steering manoeuvre could be calculated as shown in Equation 9 [25,37]. The width of the manoeuvre is y end , the longitudinal length of the manoeuvre is x end and the actual position of CoG in the longitudinal axis is x as shown in Equation 9.…”

Section: Trajectory Designmentioning

confidence: 99%

Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient

Şahin

2017

PROMET

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“…In fact, any planar curved line that is capable of satisfying the curvature continuity condition can be used instead. For instance, the Fermat's spiral (Lekkas, 2014;Lekkas et al, 2013), the single polar polynomial (Lai et al, 2007;Nelson, 1989), the cubic Bézier curve (Farouki, 2012;Seidel, 1993), and some Pythagorean hodographs (Farouki, 2008(Farouki, , 1997Farouki and Sakkalis, 1990), among others, are suitable alternatives.…”

Section: And Likewise For the Vector Of Desired Linear And Angular Acmentioning

confidence: 99%

“…Alternatives to circumvent the curvature discontinuity problem are: i) to replace each antisymmetric pair of twin clothoids by two symmetric pairs of twin clothoids linked by a short straight line; or ii) to replaced them with curved lines which yield curvature-continuous lane change paths, e.g. the curve reported in Nelson (1989); or iii) to move along the path in such a manner that the velocity and the acceleration are both null at the join point of both clothoids of the antisymmetric pair.…”

Section: Mirror-symmetric Twin Clothoidsmentioning

confidence: 99%

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Fernandes¹,

Sørensen²,

Donha³

2015

MIC

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This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described. Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited. Results from computer simulations and full-scale sea trials, both based on the NTNU's ROV Minerva, are presented and discussed.Keywords: Guidance system, Path generation, Reference model, ROV, Trajectory tracking. List of acronyms and abbreviations

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Continuous-curvature paths for autonomous vehicles

Cited by 189 publications

References 7 publications

Human Cooperative Wheelchair With Brain–Machine Interaction Based on Shared Control Strategy

Human Cooperative Wheelchair With Brain–Machine Interaction Based on Shared Control Strategy

Collision Avoidance via Adaptive Trajectory Control in Case of a Sudden Decrease in the Maximum Road Friction Coefficient

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

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