Path planning of collision avoidance for unmanned ground vehicles: A nonlinear model predictive control approach

Hang, Peng; Huang, Sunan; Chen, Xinbo; Tan, Kok Kiong

doi:10.1177/0959651820937844

Cited by 25 publications

(15 citation statements)

References 35 publications

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“…To advance the safety of HV, artificial potential field (APF) approach is applied to the collision risk assessment. The APF model for NV is constructed as follows [39].…”

Section: A Collision Risk Assessment During Lane-change Processmentioning

confidence: 99%

Brain-Inspired Modelling and Decision-making for Human-Like Autonomous Driving in Mixed Traffic Environment

Hang¹,

Zhang²,

Lv³

2022

Preprint

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In this paper, a human-like driving framework is designed for autonomous vehicles (AVs), which aims to make AVs better integrate into the transportation ecology of human driving and eliminate the misunderstanding and incompatibility of human drivers to autonomous driving. Based on the analysis of the real world INTERACTION dataset, a driving aggressiveness estimation model is established with the fuzzy inference approach. Then, a human-like driving model, which integrates the brain emotional learning circuit model (BELCM) with the two-point preview model, is designed. In the human-like lanechange decision-making algorithm, the cost function is designed comprehensively considering driving safety and travel efficiency. Based on the cost function and multi-constraint, the dynamic game algorithm is applied to modelling the interaction and decision making between AV and human driver. Additionally, to guarantee the lane-change safety of AVs, an artificial potential field model is built for collision risk assessment. Finally, the proposed algorithm is evaluated through human-in-the-loop experiments on a driving simulator, and the results demonstrated the feasibility and effectiveness of the proposed method.

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“…To advance the safety of HV, artificial potential field (APF) approach is applied to the collision risk assessment. The APF model for NV is constructed as follows [39].…”

Section: A Collision Risk Assessment During Lane-change Processmentioning

confidence: 99%

Brain-Inspired Modelling and Decision-making for Human-Like Autonomous Driving in Mixed Traffic Environment

Hang¹,

Zhang²,

Lv³

2022

Preprint

Self Cite

View full text Add to dashboard Cite

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“…The vehicle kinematic model is usually used to address the motion planning and control of vehicles at low-speed conditions, e.g., automatic parking control [65]. For motion control at high-speed conditions, the vehicle dynamic model is preferred [66].…”

Section: Vehicle Kinematic Modelmentioning

confidence: 99%

Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

Hang

Chen

2021

Actuators

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In this paper, the related studies of chassis configurations and control systems for four-wheel independent drive/steering electric vehicles (4WID-4WIS EV) are reviewed and discussed. Firstly, some prototypes and integrated X-by-wire modules of 4WID-4WIS EV are introduced, and the chassis configuration of 4WID-4WIS EV is analyzed. Then, common control models of 4WID-4WIS EV, i.e., the dynamic model, kinematic model, and path tracking model, are summarized. Furthermore, the control frameworks, strategies, and algorithms of 4WID-4WIS EV are introduced and discussed, including the handling of stability control, rollover prevention control, path tracking control and active fault-tolerate control. Finally, with a view towards autonomous driving, some challenges, and perspectives for 4WID-4WIS EV are discussed.

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“…It is quite challenging, in bushfires, to reach the allocated area and hover back to the depot. In the relevant literature, compared to the existing algorithms such as ACO and GA, PSO is favoured to generate the shortest distance with enhanced collision avoiding capability [60,61]. Moreover, it is the best possible approach to significantly find the shortest distance in optimum time [62,63].…”

Section: Pso For Uavs Path Planning In Bushfires Monitoringmentioning

confidence: 99%

UAV Based Spatiotemporal Analysis of the 2019–2020 New South Wales Bushfires

et al. 2021

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Bushfires have been a key concern for countries such as Australia for a long time. These must be mitigated to eradicate the associated harmful effects on the climate and to have a sustainable and healthy environment for wildlife. The current study investigates the 2019–2020 bushfires in New South Wales (NSW) Australia. The bush fires are mapped using Geographical Information Systems (GIS) and remote sensing, the hotpots are monitored, and damage is assessed. Further, an Unmanned Aerial Vehicles (UAV)-based bushfire mitigation framework is presented where the bushfires can be mapped and monitored instantly using UAV swarms. For the GIS and remote sensing, datasets of the Australian Bureau of Meteorology and VIIRS fire data products are used, whereas the paths of UAVs are optimized using the Particle Swarm Optimization (PSO) algorithm. The mapping results of 2019–2020 NSW bushfires show that 50% of the national parks of NSW were impacted by the fires, resulting in damage to 2.5 million hectares of land. The fires are highly clustered towards the north and southeastern cities of NSW and its border region with Victoria. The hotspots are in the Deua, Kosciu Sako, Wollemi, and Yengo National Parks. The current study is the first step towards addressing a key issue of bushfire disasters, in the Australian context, that can be adopted by its Rural Fire Service (RFS), before the next fire season, to instantly map, assess, and subsequently mitigate the bushfire disasters. This will help move towards a smart and sustainable environment.

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Path planning of collision avoidance for unmanned ground vehicles: A nonlinear model predictive control approach

Cited by 25 publications

References 35 publications

Brain-Inspired Modelling and Decision-making for Human-Like Autonomous Driving in Mixed Traffic Environment

Brain-Inspired Modelling and Decision-making for Human-Like Autonomous Driving in Mixed Traffic Environment

Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles

UAV Based Spatiotemporal Analysis of the 2019–2020 New South Wales Bushfires

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