Research on Intelligent Vehicle Path Planning Based on Rapidly-Exploring Random Tree

Shi, Yangyang; Li, Qiongqiong; Bu, Shengqiang; Yang, Jun; Zhu, Li

doi:10.1155/2020/5910503

Cited by 31 publications

(24 citation statements)

References 16 publications

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“…As a single query motion planning algorithm based on random sampling, the RRT algorithm has a wide range of applications in robot motion [ 68 , 69 ]. RRT roots at a configuration,

randomly samples the state node,

, in the space state, C, passes all of the nodes of the Tree, and finds the node,

, closest to

.…”

Section: Methodsmentioning

confidence: 99%

Urban Food Takeaway Vitality: A New Technique to Assess Urban Vitality

Zikirya

et al. 2021

IJERPH

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As one of the most important criteria for measuring the quality of urban life and the environment, urban vitality has become the focus of urban-related research and related disciplines with an increasing number of advocates for the rapid and harmonious development of urban cities. Urban takeaway can represent urban vitality, but studies have not investigated this in a quantitative manner. Furthermore, current studies rarely focus on or even mention the urban food takeaway vitality generated by the spatial distribution of urban takeaway. This study first calculated the vitality of urban takeaways based on the urban takeaway distribution, building footprint, Open Street Map (OSM) data, and the Rapidly Exploring Random Tree (RRT). Then, the urban vitality was obtained using Tencent-Yichuxing data and night-time light data, followed by a spatial correlation analysis between the urban takeaway vitality and urban vitality. Finally, the results for Beijing, Shanghai, and Guangzhou were compared, and the following conclusions were drawn: (1) there is a significant spatial correlation between the urban takeaway vitality and urban vitality, but the correlation varies in different cities at different times; and (2) even in the same city, different road and building densities have an impact on the correlation. The urban takeaway vitality proposed in this study can be used as a new index to evaluate the urban vitality, which has important theoretical and practical significance for the sustainable development of future urban cities.

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“…As a single query motion planning algorithm based on random sampling, the RRT algorithm has a wide range of applications in robot motion [ 68 , 69 ]. RRT roots at a configuration,

randomly samples the state node,

, in the space state, C, passes all of the nodes of the Tree, and finds the node,

, closest to

.…”

Section: Methodsmentioning

confidence: 99%

Urban Food Takeaway Vitality: A New Technique to Assess Urban Vitality

Zikirya

et al. 2021

IJERPH

View full text Add to dashboard Cite

show abstract

“…Wireless Communications and Mobile Computing Equation. (1), where φ is the index of row and ϕ is the index of column.…”

Section: Proposed Methodsmentioning

confidence: 99%

“…In practice, we focus on two issues: (1) where is the obstacle and ( 2) what is the trend of road. We propose the grid projection method to predict the trend of road.…”

Section: Road Predictionmentioning

confidence: 99%

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A Road Environment Prediction System for Intelligent Vehicle

Sun

Pei

et al. 2021

Wireless Communications and Mobile Computing

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The road environment prediction is an essential task for intelligent vehicle. In this study, we provide a flexible system that focuses on freespace detection and road environment prediction to host vehicle. The hardware of this system includes two parts: a binocular camera and a low-power mobile platform, which is flexible and portable for a variety of intelligent vehicle. We put forward a multiscale stereo matching algorithm to reduce the computing cost of the hardware unit. Based on disparity space and points cloud, we propose a weighted probability grid map to detect freespace region and a state model to describe the road environment. The experiments show that the proposed system is accurate and robust, which indicates that this technique is fully competent for road environment prediction for intelligent vehicle.

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“…With the development of automotive computer-aided engineering (CAE) [1][2][3][4], automotive electronic control technology [5,6] and intelligent vehicle technology [7], and the study on the influencing factors of traffic accidents [8], articulated heavy vehicles (AHV) also develop rapidly with the demand of efficient transportation of goods in recent years. Conventional AHVs are usually equipped with non-steerable trailers, which exhibit jack-knifing, trailer swinging, roll-over, trailer off-tracking and so on, and result in poor high-speed lateral stability and lowspeed path following [9,10].…”

Section: Introductionmentioning

confidence: 99%

Active steering control based on preview theory for articulated heavy vehicles

et al. 2021

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This paper investigates the active steering control of the tractor and the trailer for the articulated heavy vehicle (AHV) to improve its high-speed lateral stability and low-speed path following. The four-degree-of-freedom (4-DOF) single track dynamic model of the AHV with a front-wheel steered trailer is established. Considering that the road information at the driver’s focus is the most clear and those away from the focus blurred, a new kind controller based on the fractional calculus, i.e., a focus preview controller is designed to provide the steering input for the tractor to make it travel along the desired path. In addition, the active steering controllers based on the linear quadratic regulator (LQR) and single-point preview controller respectively are also proposed for the trailer. However, the latter is designed on the basis of the articulation angle between the tractor and trailer, inspired by the idea of the driver’s single-point preview controller. Finally, the single lane change maneuver and 90o turn maneuver are carried out. And the simulation results show that compared with the single-point preview controller, the new kind preview controller for the tractor can have good high speed maneuvering stability and low speed path tracking ability by adjusting the fractional order of the controller. On this basis, three different AHVs with the same tractor are simulated and the simulation results show that the AHV whose trailer adopts the single-point preview controller has better high-speed lateral stability and low-speed path tracking than the AHV whose trailer adopts the LQR controller.

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Research on Intelligent Vehicle Path Planning Based on Rapidly-Exploring Random Tree

Cited by 31 publications

References 16 publications

Urban Food Takeaway Vitality: A New Technique to Assess Urban Vitality

Urban Food Takeaway Vitality: A New Technique to Assess Urban Vitality

A Road Environment Prediction System for Intelligent Vehicle

Active steering control based on preview theory for articulated heavy vehicles

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