Energy efficient path planning for autonomous ground vehicles with ackermann steering

Zhang, Haojie; Zhang, Yudong; Zhang, Zuoyu

doi:10.1016/j.robot.2023.104366

Cited by 19 publications

(5 citation statements)

References 17 publications

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“…), considering system's models, the mission scenario and an uncertain environment as inputs of a verification module. More recent papers consider this issue from a more limited perspective, as seen in [69] for the construction of receding search-paths, multi-agent trajectory planning [70], and energy-efficient path planning with guarantees on completeness [32].…”

Section: Performance and Mobile Roboticsmentioning

confidence: 99%

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Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach

Lambert,

Godary-Dejean,

Lapierre

et al. 2024

J Intell Robot Syst

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This paper proposes the PANORAMA approach, which is designed to dynamically and autonomously manage the allocation of a robot’s hardware and software resources during fully autonomous mission. This behavioral autonomy approach guarantees the satisfaction of the mission performance constraints. This article clarifies the concept of performance for autonomous robotic missions and details the different phases of the PANORAMA approach. Finally, it focuses on an experimental implementation on a patrolling mission example.

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Section: Performance and Mobile Roboticsmentioning

confidence: 99%

“…The energy efficiency of the robots is mainly studied considering the path planning issue linking path length and energy consumption. The energy cost is studied in [31,32] for an Ackermann platform or skid steer rovers [33,34]. The impact of the soil type and relief is also considered for path planning in [34][35][36][37].…”

Section: Introductionmentioning

confidence: 99%

Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach

Lambert,

Godary-Dejean,

Lapierre

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

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“…• Ackermann increases the steering response at high speeds. 8 An Ackermann configuration was implemented in the experiment's vehicle because it prevents the wheels from slipping outwards when steering, which allows for greater precision in coordinating the vehicle. It also provides greater control over the vehicle since the Ackermann configuration can make tighter turns.…”

Section: Advantagesmentioning

confidence: 99%

Lane detection and tracking algorithm implementation for an Ackermann-steering mobile robot

Pérez Beltrán,

Aillaud Chávez,

Astorga Tissot

et al. 2023

Optics and Photonics for Information Processing XVII

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This paper presents the implementation of a lane detection and tracking algorithm for the autonomous navigation of an Ackermann-steering mobile robot. The proposed implementation employs an RGB camera mounted on the robot, the image information is processed through the lane detection and tracking algorithm to define the robot's present and future position within the lane. This information is used to determine the orientation of the wheels required to steer the robot within the lane. The implementation employs a Raspberry Pi as the primary logic controller to process the image received from the RGB camera. The Ackermann-steering mobile robot performs steering and navigation with a proportional-integral-derivative controller that manages the orientation of the steering. Experimental results are presented to validate the implementation considering a physical implementation of the Ackermann-steering mobile robot.

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“…The traveling mechanism of the self-propelled residual film collector was based on the Ackermann steering principle [14]. In this research, it was assumed that there would be no lateral force during the driving process of a wheeled vehicle with front-wheel steering and rear-wheel drive.…”

Section: Vehicle Steering Modelsmentioning

confidence: 99%

Development and Experiment of an Innovative Row-Controlled Device for Residual Film Collector to Drive Autonomously along the Ridge

Chen,

Yin,

Yang

et al. 2023

Sensors

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The field harvesting process of harvesting machinery is often affected by high workload and environmental factors that can impede/delay manual rowing, thereby leading to lower efficiency and quality in the residual film collector. To address this challenge, an automatic rowing control system using the 4mz-220d self-propelled residual film collector as the experimental carrier was proposed in this study. Cotton stalks in the ridges were chosen as the research object, and a comprehensive application of key technologies, machinery, and electronic control was used, thereby incorporating a pure tracking model as the path-tracking control method. To achieve the automatic rowing function during the field traveling process, the fuzzy control principle was implemented to adjust the forward distance within the pure tracking model dynamically, and the expected steering angle of the steering wheel was determined based on the kinematic model of the recovery machine. The MATLAB/Simulink software was utilized to simulate and analyze the proposed model, thus achieving significant improvements in the automation level of the residual film collector. The field harvesting tests showed that the average deviation of the manual rowing was 0.144 m, while the average deviation of the automatic rowing was 0.066 m. Moreover, the average lateral deviation of the automatic rowing was reduced by 0.078 m with a probability of deviation within 0.1 m of 95.71%. The research study demonstrated that the designed automatic rowing system exhibited high stability and robustness, thereby meeting the requirements of the autonomous rowing operations of residual film collectors. The results of this study can serve as a reference for future research on autonomous navigation technology in agriculture.

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Energy efficient path planning for autonomous ground vehicles with ackermann steering

Cited by 19 publications

References 17 publications

Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach

Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach

Lane detection and tracking algorithm implementation for an Ackermann-steering mobile robot

Development and Experiment of an Innovative Row-Controlled Device for Residual Film Collector to Drive Autonomously along the Ridge

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