Trajectory optimization for autonomous mobile robots in ITER

Vale, Alberto; Fonte, Daniel; Valente, Filipe; Ribeiro, M. Isabel

doi:10.1016/j.robot.2014.01.007

Cited by 15 publications

(6 citation statements)

References 15 publications

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“…Rossi et al [14] introduced a geometrical tangent curve to control the lane change trajectory by assigning some waypoints on the path. Vale et al [15] developed a line segment trajectory that took the flexibility of vehicles into account, and provided smooth paths that could maximize the clearance to obstacles. This line guidance approach involved necessary maneuvers and was capable of maximizing the common parts of different paths.…”

Section: Literature Reviewmentioning

confidence: 99%

Structured trajectory planning of collision-free lane change using the vehicle-driver integration data

Zhang

Yan

2016

Sci. China Technol. Sci.

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In this paper, the structured trajectory planning of lane change in collision-free road environment is studied and validated using the vehicle-driver integration data, and a new trajectory planning model for lane change is proposed based on linear offset and sine function to balance driver comfort and vehicle dynamics. The trajectory curvature of the proposed model is continuous without mutation, and the zero-based curvature at the starting and end points during lane change assures the motion direction of end points in parallel with the lane line. The field experiment are designed to collect the vehicle-driver integration data, such as steering angle, brake pedal angel and accelerator pedal angel. The correction Correlation analysis of lane-changing maneuver and influencing variables is conducted to obtain the significant variables that can be used to calibrate and test the proposed model. The results demonstrate that vehicle velocity and Y-axis acceleration have significant effects on the lane-changing maneuver, so that the model recalibrated by the samples of different velocity ranges and Y-axis accelerations has better fitted performance compared with the model calibrated by the sample trajectory. In addition, the proposed model presents a decreasing tendency of the lane change trajectory fitted MAE with the increase of time span of calibrating samples at the starting stage. intelligent vehicle, lane change, trajectory planning, vehicle-driver integration Citation: Wang J F, Zhang Q, Zhang Z Q, et al. Structured trajectory planning of collision-free lane change using the vehicle-driver integration data. Sci China Tech Sci, 2016, 59: 825−831,

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Section: Literature Reviewmentioning

confidence: 99%

Structured trajectory planning of collision-free lane change using the vehicle-driver integration data

Zhang

Yan

2016

Sci. China Technol. Sci.

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“…Sanders [20] developed a remote handling system with "man in the loop" approach that provides the remote robot operator for the Joint European Torus. Vale et al [21] developed an autonomous mobile robot for ITER. Terada et al [22] designed and developed a pick-and-place work robot to cope with the module placement for the semiconductor tracker barrel assembly.…”

Section: Robots In Rhmmentioning

confidence: 99%

An Improved Shuffled Frog Leaping Algorithm for Assembly Sequence Planning of Remote Handling Maintenance in Radioactive Environment

Guo

Tang

Sun

et al. 2015

Science and Technology of Nuclear Installations

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Assembly sequence planning (ASP) of remote handling maintenance in radioactive environment is a combinatorial optimization problem. This study proposes an improved shuffled frog leaping algorithm (SFLA) for the combinatorial optimization problem of ASP. An ASP experiment is conducted to verify the feasibility and stability of the improved SFLA. Simultaneously, the improved SFLA is compared with SFLA, genetic algorithm, particle swarm optimization, and adaptive mutation particle swarm optimization in terms of efficiency and capability of locating the best global assembly sequence. Experiment results show that the proposed algorithm exhibits outstanding performance in solving the ASP problem. The application of the proposed algorithm should increase the level of ASP in a radioactive environment.

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“…One key aspect in this area is trajectory planning. To reduce the computation complexity for trajectory planning, numerous types of curves have been used such as line segments in [6], harmonic curve in [7], circular curve in [8] and polynomial curve in [9]. In [10], a comparison between different types of curves have been made while two planning methods have also been compared.…”

Section: Introductionmentioning

confidence: 99%

Automatic Lane Change Maneuver in Dynamic Environment Using Model Predictive Control Method

Jiang

Chen

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The lane change maneuver is one of the typical maneuvers in various driving situations. Therefore the automatic lane change function is one of the key functions for autonomous vehicles. Many researches have been conducted in this field. Most existing work focused on the solutions for the static environment and assume that the surrounding vehicles are running at constant speeds. However, in reality, if not all the vehicles on the road are fully autonomous, the situation could be much more complicated and the ego vehicle has to deal with the dynamic environment. This paper proposes a Model Predictive Control (MPC)-based method to achieve automatic lane change in a dynamic environment. A two-wheel dynamic bicycle model, which combines the longitudinal and lateral motion of the ego vehicle, together with a utility function, which helps to automatically determine the target lane have been used in the algorithm. The simulation results have demonstrated the capability of the proposed algorithm in a dynamic environment.

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Trajectory optimization for autonomous mobile robots in ITER

Cited by 15 publications

References 15 publications

Structured trajectory planning of collision-free lane change using the vehicle-driver integration data

Structured trajectory planning of collision-free lane change using the vehicle-driver integration data

An Improved Shuffled Frog Leaping Algorithm for Assembly Sequence Planning of Remote Handling Maintenance in Radioactive Environment

Automatic Lane Change Maneuver in Dynamic Environment Using Model Predictive Control Method

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