Related papers: Hybrid tracker based optimal path tracking system …

This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…

Self-driving vehicles have the potential to reduce accidents and fatalities on the road. Many production vehicles already come equipped with basic self-driving capabilities, but have trouble following lanes in adverse lighting and weather…

We present an approach towards robust lane tracking for assisted and autonomous driving, particularly under poor visibility. Autonomous detection of lane markers improves road safety, and purely visual tracking is desirable for widespread…

To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…

Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…

This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…

The development of self-driving cars has garnered significant attention from researchers, universities, and industries worldwide. Autonomous vehicles integrate numerous subsystems, including lane tracking, object detection, and vehicle…

Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…

Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…

In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…

The detection of curved lanes is still challenging for autonomous driving systems. Although current cutting-edge approaches have performed well in real applications, most of them are based on strict model assumptions. Similar to other…

A path tracking algorithm that adaptively adjusts precision is presented. By adjusting the level of precision in accordance with the numerical conditioning of the path, the algorithm achieves high reliability with less computational cost…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…

This article is an overview of the various literature on path tracking methods and their implementation in simulation and realistic operating environments.The scope of this study includes analysis, implementation,tuning, and comparison of…

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…