Map free lane following based on low-cost laser scanner for near future autonomous service vehicle

Song, Zhiwei; Huang, Weiwei; Wu, Ning; Wu, Xiaojun; Anthony, Wong Chern Yuen; Saputra, Vincensius Billy; Quan, Benjamin Chia Hon; Simon, Chen Jian; Zhang, Qun; Yao, Susu; Siew, Han Boon

doi:10.1109/ivs.2015.7225767

Cited by 11 publications

(3 citation statements)

References 9 publications

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“…Moreover, the front steering angle is determined for trajectory, especially for slippery roads at maximum entry speed. Furthermore, a map-free lane method was presented in [12], utilizing a 2D low-cost laser scanner for near future AVs to bridge the gap between forthcoming AVs and lane-keeping assistants. Moreover, integrated positioning for connected vehicles enhances positioning accuracy and availability, specifically for urban canyons studied in [13].…”

Section: Recent Research Findings Conclude That: "Nearly 125 Million ...mentioning

confidence: 99%

A dual-band high gain complementary splitring resonator (CSRR) loaded hexagonal bowtie antenna with enhanced bandwidth for Vehicleto- Vehicle (V2V) communication applications

Alsisi

Vallappil

Wajid

2022

Int. j. electr. comput. eng. syst. (Online)

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A highly reliable and efficient communication system is needed for a vehicle to navigate and drive to the destination without human control (known as an autonomous or self-driving vehicle). In this work, we consider various parameters for the antenna design, ensuring reliable communication amongst vehicles and infrastructure. Specifically, we consider the type of antenna, the method used, operating frequency, substrate type (with thickness and permittivity), size and shape, gain, and bandwidth. An optimal threshold value or range of these parameters is identified. Moreover, a complementary split-ring resonator (CSRR) metamaterial (MTM) based hexagonal bowtie antenna for a high gain V2V communication environment is presented. This antenna covers sub- 6 GHz fifth generation (5G) bands (3.15-3.95 GHz) and Wi-Fi band 2.4GHz. Printing was done on a low-cost FR4 substrate for the radiating patch. Antenna Bandwidth is enhanced using a partial ground plane. The radiating layer is based on hexagonal patches printed on the double side of the substrate, and the CSSR structure is etched from patches to enrich antenna gain and bandwidth. More importantly, the proposed CSRR employed antenna provides gain and bandwidth of 1.6dBi / 6 dBi and 100MHz/ 8000MHz at 2.4GHz /3.5GHz, respectively. A highly known software, CST microwave studio, simulates the proposed antenna. Simulated and measured results make this arrangement a potential candidate for 5G high gain V2V communication.

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Section: Recent Research Findings Conclude That: "Nearly 125 Million ...mentioning

confidence: 99%

A dual-band high gain complementary splitring resonator (CSRR) loaded hexagonal bowtie antenna with enhanced bandwidth for Vehicleto- Vehicle (V2V) communication applications

Alsisi

Vallappil

Wajid

2022

Int. j. electr. comput. eng. syst. (Online)

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“…When taking about autonomous navigation, the majority of the work is related to the field of autonomous vehicles as in Abdulmajeed and Mansoor (2014) and Zhiwei et al (2015), where autonomous mobile platforms use one (or generally more) LiDAR to discover and avoid obstacles. These robotic platforms nowadays are widely used in warehouses or other places but, despite the nice results achieved, wheeled robots are limited for the objective we would like to achieve.…”

Section: Related Workmentioning

confidence: 99%

Autonomous Obstacle Crossing Strategies for the Hybrid Wheeled-Legged Robot Centauro

et al. 2021

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The development of autonomous legged/wheeled robots with the ability to navigate and execute tasks in unstructured environments is a well-known research challenge. In this work we introduce a methodology that permits a hybrid legged/wheeled platform to realize terrain traversing functionalities that are adaptable, extendable and can be autonomously selected and regulated based on the geometry of the perceived ground and associated obstacles. The proposed methodology makes use of a set of terrain traversing primitive behaviors that are used to perform driving, stepping on, down and over and can be adapted, based on the ground and obstacle geometry and dimensions. The terrain geometrical properties are first obtained by a perception module, which makes use of point cloud data coming from the LiDAR sensor to segment the terrain in front of the robot, identifying possible gaps or obstacles on the ground. Using these parameters the selection and adaption of the most appropriate traversing behavior is made in an autonomous manner. Traversing behaviors can be also serialized in a different order to synthesise more complex terrain crossing plans over paths of diverse geometry. Furthermore, the proposed methodology is easily extendable by incorporating additional primitive traversing behaviors into the robot mobility framework and in such a way more complex terrain negotiation capabilities can be eventually realized in an add-on fashion. The pipeline of the above methodology was initially implemented and validated on a Gazebo simulation environment. It was then ported and verified on the CENTAURO robot enabling the robot to successfully negotiate terrains of diverse geometry and size using the terrain traversing primitives.

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“…In the scope of this work, we assume the applicability of CDVs in limited perimeter areas; e.g., as shuttle buses in airport terminals, parks, and playgrounds [27]. Furthermore, we consider a realistic scenario of a converging road plan inspired by [28], as shown in Fig.…”

Section: A Use Case Scenariomentioning

confidence: 99%

Multi-layered Model-based Design Approach towards System Safety and Security Co-engineering

Quamara

Pedroza

Hamid

2021

2021 ACM/IEEE International Conference on Model Driven Engineering Languages and Systems Companion (MODELS-C)

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The integration of safety and security concerns in critical domains (e.g., Cyber-Physical Systems (CPSs)) is of utmost importance, and should be conducted in early design phases of system engineering process. Within a Model-Based System Engineering (MBSE) context, safety and security requirements cascade-down across models and views, thus contributing to the detailed missions, functions, and lastly, the architecture. Such enrichment process is often complex and lacks guidance to consistently breakdown high-level mission-centric system specifications into the detailed architecture. In particular, nonsavvy safety and security engineers require support to facilitate integration and verification of stringent safety constraints and security exigencies. In this regard, we propose a multi-layered design approach that leverages existing techniques like Model-Driven Engineering (MDE) and formal methods, to facilitate integrated verification of high-level safety and security objectives that can be further specialized across different representations (i.e. mission, functional, and architectural) of the system. The overall approach is validated based upon a Connected Driving Vehicles (CDVs) case study, and using Eclipse Papyrus and Rodin as experimentation tools.

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Map free lane following based on low-cost laser scanner for near future autonomous service vehicle

Cited by 11 publications

References 9 publications

A dual-band high gain complementary splitring resonator (CSRR) loaded hexagonal bowtie antenna with enhanced bandwidth for Vehicleto- Vehicle (V2V) communication applications

A dual-band high gain complementary splitring resonator (CSRR) loaded hexagonal bowtie antenna with enhanced bandwidth for Vehicleto- Vehicle (V2V) communication applications

Autonomous Obstacle Crossing Strategies for the Hybrid Wheeled-Legged Robot Centauro

Multi-layered Model-based Design Approach towards System Safety and Security Co-engineering

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