Boundary Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors

Kim, Jonghoek

doi:10.1007/s10846-018-0923-4

Cited by 8 publications

(3 citation statements)

References 18 publications

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“…Recall that a truck p i needs to access D i−1,i k and s i−1 k in (9). A truck accesses these values using local sensors, such as radar or lidar, or local communication with p i−1 .…”

Section: Matlab Simulationsmentioning

confidence: 99%

“…In the literature on autonomous cars, many works have been done on tracking a curve (lane for autonomous cars) while avoiding collision assisted by various sensors [4][5][6][7][8][9]. Specifically, [4] proposed a lane detection algorithm based on Support Vector Machines (SVM) classifier, and splines based lane model combined with Kalman filters was used for the tracking algorithm.…”

Section: Introductionmentioning

confidence: 99%

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Truck Platoon Control Considering Heterogeneous Vehicles

Kim¹

2020

Preprint

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This paper presents control algorithms enabling autonomous heterogeneous trucks to drive in platoons. Heterogeneous trucks imply that the hardware information (e.g., truck length, break, accelerator, or engine) of a truck may be distinct from that of another truck. We define a platoon as a collection of trucks where a manually driven truck (leader truck) is followed by several automatically controlled following trucks. The proposed approach is to make every autonomous truck keep following the leader's trajectory while maintaining a designated distance from its predecessor truck. As far as we know, this paper is unique in developing both lateral maneuver and speed control considering a platoon of heterogeneous trucks. The efficiency of the proposed approach is verified using simulations.

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“…Recall that a truck p i needs to access D i−1,i k and s i−1 k in (9). A truck accesses these values using local sensors, such as radar or lidar, or local communication with p i−1 .…”

Section: Matlab Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Truck Platoon Control Considering Heterogeneous Vehicles

Kim¹

2020

Preprint

Self Cite

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“…The literature is abundant with papers on planning path of robots [2–23]. Grids with blocked and unblocked cells are often used to represent terrain in computer games and robotics [24].…”

Section: Introductionmentioning

confidence: 99%

Path plan strategy of an underwater robot to approach a moving emitter while maximising sound intensity measurements

Kim

2019

IET Radar, Sonar & Navigation

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Surface Tracking Controls of an Unmanned Underwater Vehicle with Fixed Sonar Ray Measurements in Tunnel-Like Environments

Kim

2024

J Intell Robot Syst

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This paper introduces 3-D surface tracking control of an Unmanned Underwater Vehicle (UUV) in tunnel-like environments. Consider the case where a sonar transducer in the UUV does not rotate, and it only emits fixed sonar ray reporting a simple distance measurement. This reduces the power consumption of the UUV, while reducing the UUV’s size and price. The UUV is controlled to proceed in tunnel-like environments, while maintaining a predefined distance from the tunnel boundaries. For maintaining a predefined distance from tunnel boundaries, the UUV uses fixed sonar rays surrounding it. As far as we know, our article is novel in developing 3-D surface tracking controls of tunnel-like environments utilizing an UUV with fixed sonar rays surrounding it. MATLAB simulations are used for demonstrating the performance of the proposed tracking controls.

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Boundary Tracking Control for Autonomous Vehicles with Rigidly Mounted Range Sensors

Cited by 8 publications

References 18 publications

Truck Platoon Control Considering Heterogeneous Vehicles

Truck Platoon Control Considering Heterogeneous Vehicles

Path plan strategy of an underwater robot to approach a moving emitter while maximising sound intensity measurements

Surface Tracking Controls of an Unmanned Underwater Vehicle with Fixed Sonar Ray Measurements in Tunnel-Like Environments

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