Collision-Free Path Planning for Intelligent Vehicles Based on Bézier Curve

Li, Hongluo; Luo, Yuanfang; Wu, Jie

doi:10.1109/access.2019.2938179

Cited by 54 publications

(24 citation statements)

References 22 publications

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“…Therefore, the markers of the measured girth are projected onto the XOZ plane for fitting. Polynomical curve fitting (PCF) [70], Cubic Bezier curve fitting (CBCF) [71] and Polynomical with Intermediate Variable curve fitting (PIVCF) [72] are adopted to fit the markers respectively. Fig.…”

Section: Unified Coordinates Transformation and Girth Fittingmentioning

confidence: 99%

Girth Measurement Based on Multi-View Stereo Images for Garment Design

et al. 2020

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In this paper, we propose a novel girth measurement system based on multi-view stereo images for garment design. Our system is set in a fixed location to capture three pairs of stereo images for the subject by six calibrated and synchronously triggered cameras. An important feature of this system is the use of an optimized semantic segmentation network that can efficiently segment the girth region in the captured six-view stereo images. Another important feature of this system is the use of color subspace classification and coordinate clustering that can effectively constrain the stereo matching within the scope of markers. Then, the system performs only on the corresponding clusters to extract stereo matching point pairs of markers correctly. The space coordinates of 3D point corresponding to each stereo matching point pair are calculated in each coordinate system of stereo cameras. The unified coordinates of these 3D markers are transformed from three different coordinate systems into one unified coordinate system. Girth is measured by curve fitting of these markers and calculating the length of the fitting curve. Our proposed system performs passive and intelligent girth measurement in garment design, and overcomes the problem of too many invalid stereo matching point pairs in girth measurement. Experimental results demonstrate its accuracy. Our system has a maximum bust measurement error of 1.28cm for woman and 1.31cm for man and a maximum waist measurement error of 1.18cm for woman and 0.99cm for man, which are within the error limit regulated by China national standards GB/

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Section: Unified Coordinates Transformation and Girth Fittingmentioning

confidence: 99%

Girth Measurement Based on Multi-View Stereo Images for Garment Design

et al. 2020

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“…A Bézier curve is often adopted in computer graphics to obtain a continuously differentiable curve tangent to the two lines connecting the adjacent control points. It has also been used in the lane change [ 33 ] and path planning [ 34 ] of intelligent vehicles. The quadratic Bézier curve (

) is written as

where

are the control points of the Bézier curve and the polynomial

…”

Section: Improved Rrt Algorithm With Smoothing and Optimizationmentioning

confidence: 99%

Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles

Yang

Lin

2021

Sensors

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Safe path planning for obstacle avoidance in autonomous vehicles has been developed. Based on the Rapidly Exploring Random Trees (RRT) algorithm, an improved algorithm integrating path pruning, smoothing, and optimization with geometric collision detection is shown to improve planning efficiency. Path pruning, a prerequisite to path smoothing, is performed to remove the redundant points generated by the random trees for a new path, without colliding with the obstacles. Path smoothing is performed to modify the path so that it becomes continuously differentiable with curvature implementable by the vehicle. Optimization is performed to select a “near”-optimal path of the shortest distance among the feasible paths for motion efficiency. In the experimental verification, both a pure pursuit steering controller and a proportional–integral speed controller are applied to keep an autonomous vehicle tracking the planned path predicted by the improved RRT algorithm. It is shown that the vehicle can successfully track the path efficiently and reach the destination safely, with an average tracking control deviation of 5.2% of the vehicle width. The path planning is also applied to lane changes, and the average deviation from the lane during and after lane changes remains within 8.3% of the vehicle width.

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“…where w a and w b are weights; the value of weights are set as ω a � w b � 1, which represents that the branch i-side and jside are of equal importance [16]. k (a) integrates the distance protection on both sides, and the maximum disturbance degree on both sides of the remaining branch is defined as the severity index of the initial fault.…”

Section: Initial Fault Preselection Based On Vulnerabilitymentioning

confidence: 99%

Preventive Control Strategy of Cascading Fault considering Safety and Economy

Deng

Luo

et al. 2021

Journal of Electrical and Computer Engineering

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The operation and structure of the power system are becoming increasingly complex, and the probability of cascading fault increases. To this end, this paper proposes a cascading fault preventive control strategy that considers safety and the economy. First is to give a mathematical form to discriminate the cascading fault according to the action characteristics of the current-type backup protection. Second, the safety and economy of the system are evaluated in terms of power grid safety margin and generation operation cost, respectively, the initial faults are selected based on the power grid vulnerability and safety margin, and a cascading fault preventive control model is constructed for different initial faults’ scenarios. The model is a two-layer optimization mathematical model, with the inner model being solved by particle swarm optimization to minimize the power grid safety margin. The outer model is solved by the multiobjective algorithm to minimize generation cost and maximizing power grid safety margin. Finally, the calculated Pareto set is evaluated using fuzzy set theory to determine the optimal generator output strategy. The feasibility of the proposed method is verified by conducting a simulation study with the IEEE39 node system as an example.

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Collision-Free Path Planning for Intelligent Vehicles Based on Bézier Curve

Cited by 54 publications

References 22 publications

Girth Measurement Based on Multi-View Stereo Images for Garment Design

Girth Measurement Based on Multi-View Stereo Images for Garment Design

Development of an Improved Rapidly Exploring Random Trees Algorithm for Static Obstacle Avoidance in Autonomous Vehicles

Preventive Control Strategy of Cascading Fault considering Safety and Economy

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