Artigos de revistas: "Autonomous vehicle guidance"

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Roundtree, Karina A., Steven Hattrup, Janani Swaminathan, Nicholas Zerbel, Jeffrey Klow, Vivswan Shitole, Abrar Fallatah, Roli Khanna e Julie A. Adams. "Inclusive Design Guidance: External Autonomous Vehicle Interfaces". Proceedings of the Human Factors and Ergonomics Society Annual Meeting 64, n.º 1 (dezembro de 2020): 1054–58. http://dx.doi.org/10.1177/1071181320641253.

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Autonomous vehicles are expected on roads in the near future and need to interact safely with external road users, such as manual motor drivers, cyclists, and pedestrians. The particular needs of the external road users, such as children, adults, older adults, and individuals with visual, auditory, and/or cognitive impairments, will vary greatly and must be considered in order to design effective inclusive interfaces for all users. Current interface designs lack effective communication between an autonomous vehicle and external road users with regard to conveying and understanding the mobility intent of each party. The goal is to provide inclusive design guidance for an external human-vehicle interface that enables effective communication between autonomous vehicles and external road users. Factors related to communicating intent, the external road users, and environmental constraints, were used to inform the design guidance.

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Naeem, W., R. Sutton, S. M. Ahmad e R. S. Burns. "A Review of Guidance Laws Applicable to Unmanned Underwater Vehicles". Journal of Navigation 56, n.º 1 (janeiro de 2003): 15–29. http://dx.doi.org/10.1017/s0373463302002138.

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The main problem in bringing autonomy to any vehicle lies in the design of a suitable guidance law. For truly autonomous operation, the vehicle needs to have a reliable Navigation, Guidance and Control (NGC) system of which the guidance system is the key element that generates suitable trajectories to be followed. In this review paper, various guidance laws found in the literature and their relevance to autonomous underwater vehicles (AUVs) are discussed. Since existing guidance laws for underwater vehicles have emulated from tactical airborne missile systems, a number of approaches for the missile guidance systems are considered. Finally, potential guidance strategies for AUVs are proposed.

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D’Angelo, Vincenzo, Paolo Folino, Marco Lupia, Gianfranco Gagliardi, Gianni Cario, Francesco Cicchello Gaccio e Alessandro Casavola. "A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm". Drones 6, n.º 12 (27 de novembro de 2022): 382. http://dx.doi.org/10.3390/drones6120382.

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This paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by the University of Calabria), an autonomous surface vehicle (ASV) developed at the Autonomous Systems Lab (LASA) of the Department of Computer Science, Modeling, Electronics, and Systems Engineering (DIMES), University of Calabria. The basic project was born as a research program in marine robotics with multiple applications, either in the sea or in lake/river environments, for data monitoring, search and rescue operations and diver support tasks. Mechanical and hardware designs are discussed by considering a three-degree-of-freedom (3DoF) dynamical model of the vehicle. An extension to the typical guidance, navigation, and control (GNC) software architecture is presented. The software design and the implementation of a manager module (M-GNC architecture) that allows the vehicle to autonomously coordinate missions are described. Indeed, autonomous guidance and movement are only one of several more complex tasks that mobile robots have to perform in a real scenario and that allow a long-term life cycle. Module-based software architecture is developed by using the Robot Operating System (ROS) framework that is suitable for different kinds of autonomous vehicles, such as aerial, ground, surface or underwater drones.

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Wong, Joseph, Goldie Nejat, Robert Fenton e Beno Benhabib. "A neural-network approach to high-precision docking of autonomous vehicles/platforms". Robotica 25, n.º 4 (13 de fevereiro de 2007): 479–92. http://dx.doi.org/10.1017/s0263574707003359.

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SUMMARYIn this paper, a Neural-Network- (NN) based guidance methodology is proposed for the high-precision docking of autonomous vehicles/platforms. The novelty of the overall online motion-planning methodology is its applicability to cases that do not allow for the direct proximity measurement of the vehicle's pose (position and orientation). In such instances, a guidance technique that utilizes Line-of-Sight- (LOS) based task-space sensory feedback is needed to minimize the detrimental impact of accumulated systematic motion errors. Herein, the proposed NN-based guidance methodology is implemented during the final stage of the vehicle's motion (i.e., docking). Systematic motion errors, which are accumulated after a long-range motion are reduced iteratively by executing corrective motion commands generated by the NN until the vehicle achieves its desired pose within random noise limits. The proposed guidance methodology was successfully tested via simulations for a 6-dof (degree-of-freedom) vehicle and via experiments for a 3-dof high-precision planar platform.

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Zhou, Yunya, Yang He, Yu Yan, Fang Li, Neng Li, Chaofeng Zhang, Zijian Lu e Zhiyong Yang. "Autonomous charging docking control method for unmanned vehicles based on vision and infrared". Journal of Physics: Conference Series 2584, n.º 1 (1 de setembro de 2023): 012065. http://dx.doi.org/10.1088/1742-6596/2584/1/012065.

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Abstract Unmanned vehicle charging is part of the autonomous workflow of unmanned vehicles. Most existing unmanned vehicles mostly rely on manual battery change or manual charging, which cannot realize autonomous charging. In order to achieve simpler and safer autonomous charging for unmanned vehicles, this paper proposes a new intelligent unmanned vehicle autonomous charging docking method based on infrared guidance and vision assistance. Firstly, the autonomous charging device and intelligent charging stand for unmanned vehicles are designed, and for the unmanned vehicle, charging is not easy to align and easy to detach when charging. The camber-type electric core and charging adsorption device are designed, respectively, and the autonomous charging docking device is designed. Secondly, in order to ensure the accuracy of the docking between the unmanned vehicle and the intelligent charging stand, the unmanned vehicle autonomous charging method is proposed. The combination method of infrared and vision adjusts the posture of the unmanned vehicle. Finally, a protection method of autonomous charging docking based on ultrasonic ranging of unmanned vehicles is proposed. The communication and ranging modules on the unmanned vehicle and intelligent charging stand are designed to prevent mistouching and obstacle avoidance to ensure the safety of the system. The experiment results show that the docking method of this unmanned vehicle autonomous charging system is accurate, efficient, and safe, which can satisfy the demand for unmanned vehicle autonomous charging.

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Foley, James P., e Michael J. Hudak. "Autonomous Route Guidance System Field Test". Proceedings of the Human Factors and Ergonomics Society Annual Meeting 40, n.º 18 (outubro de 1996): 887–90. http://dx.doi.org/10.1177/154193129604001804.

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Eight vehicles equipped with an autonomous Route Guidance System (RGS) were deployed in two geographical areas for a field test. The RGS provided the driver with turn-by-turn instructions to a selected destination using graphics presented on a monochromatic screen and verbal instructions through a dedicated speaker. Each of 45 participants drove a vehicle for approximately one month and reported their experiences in a post-drive debriefing. The debriefing consisted of both a questionnaire and a structured interview. The emphasis of the field test was to evaluate the driver interface. The results indicated that the participants were generally satisfied with the performance and usefulness of this implementation of a route guidance system. They liked the accuracy of the system and the ease of guidance to destinations. Implications for future system design improvements are discussed.

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Hartley, Ralph, Behrooz Kamgar-Parsi e Cody Narber. "Using Roads for Autonomous Air Vehicle Guidance". IEEE Transactions on Intelligent Transportation Systems 19, n.º 12 (dezembro de 2018): 3840–49. http://dx.doi.org/10.1109/tits.2018.2799485.

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Baker, Patrick, e Behrooz Kamgar-Parsi. "Using shorelines for autonomous air vehicle guidance". Computer Vision and Image Understanding 114, n.º 6 (junho de 2010): 723–29. http://dx.doi.org/10.1016/j.cviu.2010.01.009.

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Kim, Kangsoo, e Tamaki Ura. "Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle". Mathematical Problems in Engineering 2010 (2010): 1–23. http://dx.doi.org/10.1155/2010/149385.

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Model-based analysis and synthesis applied to the dynamics, guidance, and control of an autonomous undersea vehicle are presented. As the dynamic model for describing vehicle motion mathematically, the equations of motion are derived. The stability derivatives in the equations of motion are determined by a simulation-based technique using computational fluid dynamics analysis. The dynamic model is applied to the design of the low-level control systems, offering model-based synthetic approach in dynamics and control applications. As an intelligent navigational strategy for undersea vehicles, we present the optimal guidance in environmental disturbances. The optimal guidance aims at the minimum-time transit of a vehicle in an environmental flow disturbance. In this paper, a newly developed algorithm for obtaining the numerical solution of the optimal guidance law is presented. The algorithm is a globally working procedure deriving the optimal guidance in any deterministic environmental disturbance. As a fail-safe tactic in achieving the optimal navigation in environments of moderate uncertainty, we propose the quasi-optimal guidance. Performances of the optimal and the quasi-optimal guidances are demonstrated by the simulated navigations in a few environmental disturbances.

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Zhang, Zhuoyu, Wangjie Ding, Rundong Wu, Mingwei Lin, Dejun Li e Ri Lin. "Autonomous Underwater Vehicle Cruise Positioning and Docking Guidance Scheme". Journal of Marine Science and Engineering 12, n.º 6 (19 de junho de 2024): 1023. http://dx.doi.org/10.3390/jmse12061023.

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The Autonomous Underwater Vehicle (AUV) is capable of autonomously conducting underwater cruising tasks. When combined with docking operations, the AUV can replenish its electric power after long-distance travel, enabling it to achieve long-range autonomous monitoring. This paper proposes a positioning method for the cruising and docking stages of AUVs. Firstly, a vision guidance algorithm based on monocular vision and threshold segmentation is studied to address the issue of regional noise that commonly occurs during underwater docking. A solution for regional noise based on threshold segmentation and proportional circle selection is proposed. Secondly, in order to enhance the positioning accuracy during the cruising stage, a fusion positioning algorithm based on particle filtering is presented, incorporating the Doppler Velocity Log (DVL) and GPS carried by the AUV. In simulation, this algorithm improves positioning accuracy by over 56.0% compared to using individual sensors alone. Finally, experiments for cruising and docking were conducted in Qingjiang, Hubei, China. The effectiveness of both methods is demonstrated, with successful docking achieved in four out of five attempts.

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Shamsuddin, Putri Nur Farhanah Mohd, Roshahliza M. Ramli e Muhamad Arifpin Mansor. "Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review". Bulletin of Electrical Engineering and Informatics 10, n.º 4 (1 de agosto de 2021): 1893–904. http://dx.doi.org/10.11591/eei.v10i4.3086.

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An excellent navigation, guidance, and control (NGC) system had a high impact on trajectory tracking and the following scenarios. Both scenarios will include the heading, tangent, and velocity parameters in the computation. However, the control system design problem is not a new issue in the unmanned surface vehicle (USV) and autonomous ground vehivle (AGV) due to this constraint faced by many researchers since early these autonomy developments. Hence, this paper listed and emphasizing the techniques, including techniques implementation, strength, and the algorithm's constraints, a fusion of several techniques implemented for vehicle's stability, a turning ahead, and heading estimation. This paper concerns the similar algorithm used in the USV and AGV. Most of the selected techniques are basic algorithms and have been frequently implemented to control both vehicles' systems. Previous research shows pure pursuit guidance is the most popular technique in AGV to control the degree-of-freedom (DOF) velocity and the dynamic rate (sway, surge, and yaw). Simultaneously, the line of sight (LOS) controller is very compatible with controlling the movement of the USV. In conclusion, the technique's simulation test needs further research that will expose in the actual situation.

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Feezor, M. D., F. Yates Sorrell, P. R. Blankinship e J. G. Bellingham. "Autonomous underwater vehicle homing/docking via electromagnetic guidance". IEEE Journal of Oceanic Engineering 26, n.º 4 (2001): 515–21. http://dx.doi.org/10.1109/48.972086.

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Maravall, D., M. Mazo, V. Palencia, M. M. Pérez e C. Torres. "GUIDANCE OF AN AUTONOMOUS VEHICLE BY VISUAL FEEDBACK". Cybernetics and Systems 21, n.º 2-3 (março de 1990): 257–66. http://dx.doi.org/10.1080/01969729008902239.

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Andersen, Gert L., e Anders C. Christensen. "Guidance of Autonomous Vehicle with 4 Wheel Trailer". IFAC Proceedings Volumes 26, n.º 1 (abril de 1993): 241–46. http://dx.doi.org/10.1016/s1474-6670(17)49306-2.

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Ridley, Peter, e Peter Corke. "Load Haul Dump Vehicle Kinematics and Control". Journal of Dynamic Systems, Measurement, and Control 125, n.º 1 (1 de março de 2003): 54–59. http://dx.doi.org/10.1115/1.1541671.

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This paper examines the kinematics and control of a Load Haul Dump Vehicle used in underground mining operations. The aim of the work is to develop an autonomous guidance strategy. A linear, state-space, mathematical model of the vehicle is derived purely from geometric consideration of the vehicle and its desired path. Autonomous regulation of the vehicle is shown to be theoretically feasible using state variable feedback of displacement, heading, and curvature error. A relationship between stability and vehicle speed is derived. This expression forms the basis of an adaptive tuning strategy, which optimizes the vehicle’s dynamic response.

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Chen, Bokui, Yaohui Chen, Yao Wu, Yuxuan Xiu, Xiao Fu e Kai Zhang. "The Effects of Autonomous Vehicles on Traffic Efficiency and Energy Consumption". Systems 11, n.º 7 (7 de julho de 2023): 347. http://dx.doi.org/10.3390/systems11070347.

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This paper studies how autonomous vehicles (AVs) influence future traffic and energy consumption when adopting various route guidance strategies, which can be divided into global information strategies and local information strategies according to the scope of information collection. A mixed traffic flow model is established. Then, an autonomous vehicle model is improved to investigate the impact of six route guidance strategies. The selected strategies are specifically evaluated in a double-route scenario, considering both single-exit and dual-exit configurations. Three indicators are chosen to evaluate traffic efficiency, including traffic flow, average speed and quantity of vehicles. Consumption per unit flux is the indicator of energy consumption level. Simulation results show that autonomous vehicles can improve traffic efficiency and reduce energy consumption.

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Vieira, David, Antoine Vie, Rodolfo Orjuela, Matthias Spisser e Michel Basset. "A Robust Lateral Control Architecture for Off-Road Vehicle Guidance on Deformable Soils". Electronics 12, n.º 11 (25 de maio de 2023): 2395. http://dx.doi.org/10.3390/electronics12112395.

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This paper introduces a novel lateral guidance strategy for autonomous ground vehicles operating in deformable environments. The strategy combines a geometric algorithm with a dynamic controller to leverage the advantages of both methods. The geometric algorithm is based on a modified Pure Pursuit method, which calculates the lateral error by considering a dynamic parameter associated with the look-ahead distance. The controller takes model uncertainties and time-variant parameters into account in a grid-based LPV (Linear Parameter Varying) synthesis. To validate the proposed control architecture, a dedicated off-road vehicle simulator that accounted for deformable soils was used. The effectiveness and robustness of the proposed lateral guidance strategy were demonstrated by integrating and validating the control architecture on a vehicle prototype. The results indicate that the proposed approach effectively handled complex and uncertain deformable environments. Overall, this study presents a new lateral guidance strategy that enhances the performance and reliability of autonomous ground vehicles in challenging environments.

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Milanés, Vicente, José E. Naranjo, Carlos González, Javier Alonso e Teresa de Pedro. "Autonomous vehicle based in cooperative GPS and inertial systems". Robotica 26, n.º 5 (setembro de 2008): 627–33. http://dx.doi.org/10.1017/s0263574708004232.

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SUMMARYA system including Global Positioning Systems (GPS) and digital cartography is a good solution to carry out vehicle's guidance. However, it has inconveniences like high sensibility to multipath and interference when the GPS signal is blocked by external agents. Another system is mandatory to avoid this error. This paper presents a cooperative system based on GPS and Inertial Navigation Systems (INS) for automated vehicle position. The control system includes a decision unit to choose which value is the correct. In case GPS is working at top precision, it takes the control. On the other part, GPS signal can be lost and inertial control system guides the car in this occasion. A third possibility is contemplated: we receive the signal from GPS but the accuracy is over one meter. Now, position value is obtained by means of both systems. Experimental results analyze two situations: guidance in an urban area where GPS signal can be occluded by buildings or trees during short time intervals and the possibility of loss of the signal in long time to simulate the circulation in tunnels. Good results have been observed in tests and it demonstrates how a cooperative system improves the automated vehicle guidance.

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Erginli, Mustafa, e Ibrahim Cil. "Deep-Learning-Based Floor Path Model for Route Tracking of Autonomous Vehicles". Systems 10, n.º 3 (15 de junho de 2022): 83. http://dx.doi.org/10.3390/systems10030083.

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Real-time route tracking is an important research topic for autonomous vehicles used in industrial facilities. Traditional methods such as copper line tracking on the ground, wireless guidance systems, and laser systems are still used in route tracking. In this study, a deep-learning-based floor path model for route tracking of autonomous vehicles is proposed. A deep-learning floor path model and algorithm have been developed for highly accurate route tracking, which avoids collisions of vehicles and follows the shortest route to reach the destination. The floor path model consists of markers. Routes in the floor path model are created by using these markers. The floor path model is transmitted to autonomous vehicles as a vector by a central server. The server dispatches the target marker address to the vehicle to move. The vehicle calculates all possible routes to this address and chooses the shortest one. Marker images on the selected route are processed using image processing and classified with a pre-trained deep-CNN model. If the classified image and the image on the selected route are the same, the vehicle proceeds toward its destination. While the vehicle moves on the route, it sends the last classified marker to the server. Other autonomous vehicles use this marker to determine the location of this vehicle. Other vehicles on the route wait to avoid a collision. As a result of the experimental studies we have carried out, the route tracking of the vehicles has been successfully achieved.

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Ragi, Shankarachary, ChingSeong Tan, K. Edwin e P. Chong. "Feasibility Study of POMDP in Autonomous Amphibious Vehicle Guidance". IFAC Proceedings Volumes 46, n.º 10 (junho de 2013): 85–90. http://dx.doi.org/10.3182/20130626-3-au-2035.00042.

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Tsumura, Toshihiro. "The ABC's of Wheeled Vehicle. IV. Guidance, Autonomous Mobility." Journal of the Robotics Society of Japan 13, n.º 5 (1995): 647–51. http://dx.doi.org/10.7210/jrsj.13.647.

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Behringer, R., e N. Muller. "Autonomous road vehicle guidance from autobahnen to narrow curves". IEEE Transactions on Robotics and Automation 14, n.º 5 (1998): 810–15. http://dx.doi.org/10.1109/70.720356.

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Chen, Xian, E. L. Dagless, Shu-jun Zhang e B. T. Thomas. "An Improved Plan-View Method for Autonomous Vehicle Guidance". IFAC Proceedings Volumes 26, n.º 1 (abril de 1993): 499–504. http://dx.doi.org/10.1016/s1474-6670(17)49349-9.

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Wang, Yongji, e M. P. Cartmell. "Autonomous vehicle parallel parking design using function fitting approaches". Robotica 16, n.º 2 (março de 1998): 159–70. http://dx.doi.org/10.1017/s0263574798000496.

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One of the most fundamental problems in the development of an intelligent highway system or an autonomous mobile robot system for factory use is to find the necessary input control variables for smooth and safe movement of the vehicle, or robot, between any two configurations. In this paper it is demonstrated that this problem can be converted into one of finding a fitting function which satisfies the boundary conditions. Three curves, a quintic polynomial, a cubic polynomial and a triangular function are developed to perform the parallel transfer manoeuvre which forms the basis of several important manoeuvres such as reverse parking, moving off, negotiating a stationary obstacle, overtaking a moving vehicle, and changing lane. A detailed discussion of the effect of the vehicle's steering angle limit on the feasibility of these manoeuvres is presented. Simulation results using three typical vehicles, a long commercial vehicle, an ordinary car, and a small laboratory robot, travelling along three curves are also presented and discussed. Based on the comparative study, some suggestions for further work are made. Compared with other methods, this approach is simple and provides excellent simulation of human driver techniques. The paper concludes with a focused discussion about the integration of these techniques with satellite based GPS systems for automated vehicle guidance on highways.

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Mutlu, Lutfi, e Erol Uyar. "Indoor Navigation and Guidance of an Autonomous Robot Vehicle by Using Wireless (ZigBee) Cummunication". Advanced Materials Research 463-464 (fevereiro de 2012): 1634–37. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1634.

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In this work, a novel approach for navigation and guidance of a duo cycle autonomous robot vehicle by using ZigBee wireless control is presented. For navigation the angular position and location of the vehicle is measured intermittent by means of an electronic compass and a linear position encoder. Both measured values are then compared through a PC with the reference points of a certain trajectory, so that a given path can be followed by the vehicle autonomously. Besides navigation a self developed algorithm is integrated to the system control for possible obstacle avoidance and optimal path finding. The results of experimental testing showed the effectiveness of the proposed approach.

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Ollero, A., B. C. Arrue, J. Ferruz, G. Heredia, F. Cuesta, F. López-Pichaco e C. Nogales. "Control and perception components for autonomous vehicle guidance. Application to the ROMEO vehicles". Control Engineering Practice 7, n.º 10 (outubro de 1999): 1291–99. http://dx.doi.org/10.1016/s0967-0661(99)00091-x.

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Li, Zhen, Xin Chen e Zhenhua Zhao. "Design of Standoff Cooperative Target-Tracking Guidance Laws for Autonomous Unmanned Aerial Vehicles". Mathematical Problems in Engineering 2021 (30 de abril de 2021): 1–14. http://dx.doi.org/10.1155/2021/6682160.

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This paper investigates two guidance laws of standoff cooperative tracking static and moving of multiple autonomous unmanned aerial vehicles for targets from the perspective of the control system design. In the scheme of the proposed guidance laws, one vehicle is chosen as leader and others as followers. The leader only needs the measurement of the target, and the followers only measure the leader and its neighbors in the communication topology network. By using the proposed guidance laws, it is guaranteed that all vehicles can track a static or moving target with an evenly spaced formation of circle. Considering the coupling of tracking and cooperation, the stability analysis is performed by constructing two relatively independent subsystems based on Lyapunov theory, and the corresponding rigorous proofs of stability are given. By comparing with the Lyapunov vector field guidance law, the simulation results verify the effectiveness and superiority of the proposed guidance laws.

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Jiménez, Felipe, Miguel Clavijo, José Eugenio Naranjo e Óscar Gómez. "Improving the Lane Reference Detection for Autonomous Road Vehicle Control". Journal of Sensors 2016 (2016): 1–13. http://dx.doi.org/10.1155/2016/9497524.

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Autonomous road vehicles are increasingly becoming more important and there are several techniques and sensors that are being applied for vehicle control. This paper presents an alternative system for maintaining the position of autonomous vehicles without adding additional elements to the standard sensor architecture, by using a 3D laser scanner for continuously detecting a reference element in situations in which the GNSS receiver fails or provides accuracy below the required level. Considering that the guidance variables are more accurately estimated when dealing with reference points in front of and behind the vehicle, an algorithm based on vehicle dynamics mathematical model is proposed to extend the detected points in cases where the sensor is placed at the front of the vehicle. The algorithm has been tested when driving along a lane delimited by New Jersey barriers at both sides and the results show a correct behaviour. The system is capable of estimating the reference element behind the vehicle with sufficient accuracy when the laser scanner is placed at the front of it, so the robustness of the control input variables (lateral and angular errors) estimation is improved making it unnecessary to place the sensor on the vehicle roof or to introduce additional sensors.

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Yu, Dongyeon, Chanho Park, Hoseung Choi, Donggyu Kim e Sung-Ho Hwang. "Takeover Safety Analysis with Driver Monitoring Systems and Driver–Vehicle Interfaces in Highly Automated Vehicles". Applied Sciences 11, n.º 15 (21 de julho de 2021): 6685. http://dx.doi.org/10.3390/app11156685.

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According to SAE J3016, autonomous driving can be divided into six levels, and partially automated driving is possible from level three up. A partially or highly automated vehicle can encounter situations involving total system failure. Here, we studied a strategy for safe takeover in such situations. A human-in-the-loop simulator, driver–vehicle interface, and driver monitoring system were developed, and takeover experiments were performed using various driving scenarios and realistic autonomous driving situations. The experiments allowed us to draw the following conclusions. The visual–auditory–haptic complex alarm effectively delivered warnings and had a clear correlation with the user’s subjective preferences. There were scenario types in which the system had to immediately enter minimum risk maneuvers or emergency maneuvers without requesting takeover. Lastly, the risk of accidents can be reduced by the driver monitoring system that prevents the driver from being completely immersed in non-driving-related tasks. We proposed a safe takeover strategy from these results, which provides meaningful guidance for the development of autonomous vehicles. Considering the subjective questionnaire evaluations of users, it is expected to improve the acceptance of autonomous vehicles and increase the adoption of autonomous vehicles.

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Rathour, Swarn Singh, Naomi Kato, Naoto Tanabe, Hidetaka Senga, Yukino Hirai, Muneo Yoshie e Toshinari Tanaka. "Spilled Oil Autonomous Tracking Using Autonomous Sea Surface Vehicle". Marine Technology Society Journal 49, n.º 3 (1 de maio de 2015): 102–16. http://dx.doi.org/10.4031/mtsj.49.3.15.

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Abstract Over the past several decades, a concerted scientific effort has been made to estimate the drift and spread of spilled oil on the ocean surface. However, tracking spilled oil in open water remains challenging. This research focuses on the problem of autonomous oil spill tracking in oceanic marine environments. We describe a sensor-based guidance, navigation, and control system (GNCS) for oil spill tracking by an autonomous surface vehicle (ASV) in unsteady and uncertain environments. First, we describe the design and development of a yacht-shaped ASV that can track spilled oil on the sea surface using data supplied by onboard sensors to control rudder angle and sail area for navigation. Second, we evaluate the performance of a Ultraviolet/fluorometry-based optical sensor for use as an oil detection sensor. Third, we describe an autonomous ASV decision-making algorithm for target speed and direction based on a complete time history of the scanned area around the ASV by the oil detection sensor. Finally, we describe field experiments conducted at the Osaka University pond to validate the performance of the ASV with regard to autonomous oil spill tracking using GNCS based on onboard sensors data for tracking artificial oil targets. This technology has profound implications for oil spill disaster recovery operations.

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Chang, Ching-Wei, Li-Yu Lo, Hiu Ching Cheung, Yurong Feng, An-Shik Yang, Chih-Yung Wen e Weifeng Zhou. "Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach". Sensors 22, n.º 1 (5 de janeiro de 2022): 404. http://dx.doi.org/10.3390/s22010404.

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This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed.

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Jung, Young-Yoon, Geun-Mo Kim e Young-Jae Ryoo. "Magnetic Position Sensing System for Autonomous Vehicle and Robot Guidance". Journal of Korean Institute of Intelligent Systems 17, n.º 2 (25 de abril de 2007): 214–19. http://dx.doi.org/10.5391/jkiis.2007.17.2.214.

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Dickmanns, E. D., e A. Zapp. "Autonomous High Speed Road Vehicle Guidance by Computer Vision 1". IFAC Proceedings Volumes 20, n.º 5 (julho de 1987): 221–26. http://dx.doi.org/10.1016/s1474-6670(17)55320-3.

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Miranda Jiménez, Leidys, Yunier Yunier Valeriano-Medina e Ángel Camero Álvarez. "Guidance scheme for paths without temporary restrictions using the Krick Felix model boat under the influence of sea currents". Sistemas y Telemática 16, n.º 46 (31 de julho de 2018): 59–70. http://dx.doi.org/10.18046/syt.v16i46.3088.

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The autonomous surface vehicles are composed of a guidance, navigation, and control systems where the first one plays an important role in missions without human intervention. This article presents the design of a guidance system made of an I-LOS controller, where its purpose is to achieve the convergence and the precise following of straight paths, regardless of the sea currents presence. The controller gains adjustment is performed according to the vehicle features and the geometry of the path to follow. The proposed guidance algorithm is assessed through simulation, obtaining favorable results.

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Liang, Xiao (Joyce), S. Ilgin Guler e Vikash V. Gayah. "Joint Optimization of Signal Phasing and Timing and Vehicle Speed Guidance in a Connected and Autonomous Vehicle Environment". Transportation Research Record: Journal of the Transportation Research Board 2673, n.º 4 (abril de 2019): 70–83. http://dx.doi.org/10.1177/0361198119841285.

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A joint traffic signal optimization algorithm is proposed which utilizes connected vehicle (CV) information to identify optimum signal timing and phasing plans while also providing speed guidance to individual vehicles to minimize total number of stopping maneuvers. The contribution of this paper is provision of speed guidance to both autonomous (AVs) and human-driven speed guidance-enabled vehicles (SGVs), recognizing that the latter may not fully comply with the speed guidance and would require some delay (i.e., reaction time) to implement it. The control algorithm is triggered at regular discrete time intervals during which CV information is used to identify the presence of non-CVs and incorporate them into signal timing decision-making. Optimal speeds are determined for any AVs or SGVs so that they can travel through the intersection at the expected departure time without stopping, considering both acceleration/deceleration and human reaction times. Simulation tests are performed under different CV, AV, and SGV penetration rates, while explicitly modeling the potential human errors and varying acceptance levels. The results suggest that average delay and number of stops decrease with higher CV penetration rate. Furthermore, the number of stops decreases as the ratio of both AVs and SGVs increases. While AVs are about 10% more efficient than SGVs, human-driven vehicles still provide a benefit even when they do not fully comply with speed guidance information. Sensitivity tests suggest that operation is not significantly affected by the range of human driver errors in speed compliance or range of reaction times.

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Zhang, Zhouyu, Yunfeng Cao, Meng Ding, Likui Zhuang e Jiang Tao. "Vision-based guidance for fixed-wing unmanned aerial vehicle autonomous carrier landing". Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, n.º 8 (25 de julho de 2018): 2894–913. http://dx.doi.org/10.1177/0954410018788003.

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Autonomous carrier landing is regarded as a crucial problem among the flight stages of carrier-based unmanned aerial vehicle. In recent years, vision-based guidance has become a promising solution for unmanned aerial vehicle autonomous carrier landing. In this paper a new vision-based navigation scheme is proposed for unmanned aerial vehicle autonomous carrier landing. The scheme aims at dealing with two core problems: searching the carrier by using the images obtained from the airborne forward-looking camera and estimating the relative position and attitude between the unmanned aerial vehicle and the carrier. In order to solve the first problem, the spectral residual-based saliency analysis method is firstly adopted to obtain the Region of Interest. Then the locality-constraint linear coding-based feature learning method is proposed for feature extraction, and the region of interest containing the carrier is finally recognized by the linear support vector machine. In order to solve the second problem, five feature points are firstly selected on the surface of the carrier. Then, a new carrier-fixed moving reference coordinate system is set up. The six landing parameters including three attitude parameters and three position parameters are finally obtained by using orthogonal iteration. The experiment results verify the superiority and effectiveness of the algorithms proposed in this paper.

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Inagaki, Shinkichi, Tatsuya Suzuki, Takahiro Ito e Wu Shidan. "Design of Autonomous/Man-Machine-Cooperative Mobile Robot". Journal of Robotics and Mechatronics 21, n.º 2 (20 de abril de 2009): 252–59. http://dx.doi.org/10.20965/jrm.2009.p0252.

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The control methodology we propose for a nonholonomic electric two-wheeled vehicle combines autonomous control and man-machine-cooperative control. “Autonomous control” is designed using time-state control to reduce vehicle deviation from a guidance line. “Man-machine-cooperative control” is designed using impedance control to generate power to assist user maneuvers. Experiments demonstrate the usefulness of our proposed design.

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Edwards, John. "Signal Processing Improves Autonomous Vehicle Navigation Accuracy: Guidance Innovations Promise Safer and More Reliable Autonomous Vehicle Operation [Special Reports]". IEEE Signal Processing Magazine 36, n.º 2 (março de 2019): 15–18. http://dx.doi.org/10.1109/msp.2018.2884745.

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Villa, Jose, Jussi Aaltonen, Sauli Virta e Kari T. Koskinen. "A Co-Operative Autonomous Offshore System for Target Detection Using Multi-Sensor Technology". Remote Sensing 12, n.º 24 (16 de dezembro de 2020): 4106. http://dx.doi.org/10.3390/rs12244106.

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This article studies the design, modeling, and implementation challenges for a target detection algorithm using multi-sensor technology of a co-operative autonomous offshore system, formed by an unmanned surface vehicle (USV) and an autonomous underwater vehicle (AUV). First, the study develops an accurate mathematical model of the USV to be included as a simulation environment for testing the guidance, navigation, and control (GNC) algorithm. Then, a guidance system is addressed based on an underwater coverage path for the AUV, which uses a mechanical imaging sonar as the primary AUV perception sensor and ultra-short baseline (USBL) as a positioning system. Once the target is detected, the AUV sends its location to the USV, which creates a straight-line for path following with obstacle avoidance capabilities, using a LiDAR as the main USV perception sensor. This communication in the co-operative autonomous offshore system includes a decentralized Robot Operating System (ROS) framework with a master node at each vehicle. Additionally, each vehicle uses a modular approach for the GNC architecture, including target detection, path-following, and guidance control modules. Finally, implementation challenges in a field test scenario involving both AUV and USV are addressed to validate the target detection algorithm.

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Mihailescu, Cristina, e Ioan Farcasan. "Mathematical Model for Studying the Evolution of Multi-Role Unmanned Aerial Vehicle in Turbulent Atmosphere". Applied Mechanics and Materials 325-326 (junho de 2013): 984–89. http://dx.doi.org/10.4028/www.scientific.net/amm.325-326.984.

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The paper purpose is to present some aspects regarding the control system of unmanned aerial vehicle - UAV, used for local observations, surveillance and monitoring of interest area or as a training target for anti-aircraft systems. The calculus methodology allows a numerical simulation of UAV evolution in bad atmospheric conditions by using a nonlinear model, as well as a linear one for obtaining the guidance command. The UAV model which will be presented has six DOF (degrees of freedom), and an autonomous control system. This theoretical development allows us to build the stability matrix, command matrix and the control matrix and finally to analyze the stability of autonomous UAV flight. A robust guidance system, based on Kalman filter will be evaluated for different fly conditions and the results will be presented. The flight parameters and guidance will be analyzed. The paper is inspired by national project SAMO (Autonomous Aerial Monitoring System for Interest Areas of Great Endurance). Keywords: UAV, Simulation, Control, Guidance, Endurance, Surveillance, Monitoring, Kalman filter

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Gautam, Alvika, Mandeep Singh, Pedda Baliyarasimhuni Sujit e Srikanth Saripalli. "Autonomous Quadcopter Landing on a Moving Target". Sensors 22, n.º 3 (1 de fevereiro de 2022): 1116. http://dx.doi.org/10.3390/s22031116.

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Autonomous landing on a moving target is challenging because of external disturbances and localization errors. In this paper, we present a vision-based guidance technique with a log polynomial closing velocity controller to achieve faster and more accurate landing as compared to that of the traditional vertical landing approaches. The vision system uses a combination of color segmentation and AprilTags to detect the landing pad. No prior information about the landing target is needed. The guidance is based on pure pursuit guidance law. The convergence of the closing velocity controller is shown, and we test the efficacy of the proposed approach through simulations and field experiments. The landing target during the field experiments was manually dragged with a maximum speed of 0.6 m/s. In the simulations, the maximum target speed of the ground vehicle was 3 m/s. We conducted a total of 27 field experiment runs for landing on a moving target and achieved a successful landing in 22 cases. The maximum error magnitude for successful landing was recorded to be 35 cm from the landing target center. For the failure cases, the maximum distance of vehicle landing position from target boundary was 60 cm.

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Qin, Xuesheng, Kebo Li, Yangang Liang e Yuanhe Liu. "Minimum-Effort Waypoint-Following Differential Geometric Guidance Law Design for Endo-Atmospheric Flight Vehicles". Drones 7, n.º 6 (1 de junho de 2023): 369. http://dx.doi.org/10.3390/drones7060369.

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To improve the autonomous flight capability of endo-atmospheric flight vehicles, such as cruise missiles, drones, and other small, low-cost unmanned aerial vehicles (UAVs), a novel minimum-effort waypoint-following differential geometric guidance law (MEWFDGGL) is proposed in this paper. Using the classical differential geometry curve theory, the optimal guidance problem of endo-atmospheric flight vehicles is transformed into an optimal space curve design problem, where the guidance command is the curvature. On the one hand, the change in speed of the flight vehicle is decoupled from the guidance problem. In this way, the widely adopted constant speed hypothesis in the process of designing the guidance law is eliminated, and, hence, the performance of the proposed MEWFDGGL is not influenced by the varying speed of the flight vehicle. On the other hand, considering the onboard computational burden, a suboptimal form of the MEWFDGGL is proposed to solve the problem, where both the complexity and the computational burden of the guidance law dramatically increase as the number of waypoints increases. The theoretical analysis demonstrates that both the original MEWFDGGL and its suboptimal form can be applied to general waypoint-following tasks with an arbitrary number of waypoints. Finally, the superiority and effectiveness of the proposed MEWFDGGL are verified by a numerical simulation and flight experiments.

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Clark, Evan B., Nathan E. Bramall, Brent Christner, Chris Flesher, John Harman, Bart Hogan, Heather Lavender et al. "An intelligent algorithm for autonomous scientific sampling with the VALKYRIE cryobot". International Journal of Astrobiology 17, n.º 3 (25 de setembro de 2017): 247–57. http://dx.doi.org/10.1017/s1473550417000313.

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AbstractThe development of algorithms for agile science and autonomous exploration has been pursued in contexts ranging from spacecraft to planetary rovers to unmanned aerial vehicles to autonomous underwater vehicles. In situations where time, mission resources and communications are limited and the future state of the operating environment is unknown, the capability of a vehicle to dynamically respond to changing circumstances without human guidance can substantially improve science return. Such capabilities are difficult to achieve in practice, however, because they require intelligent reasoning to utilize limited resources in an inherently uncertain environment. Here we discuss the development, characterization and field performance of two algorithms for autonomously collecting water samples on VALKYRIE (Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer), a glacier-penetrating cryobot deployed to the Matanuska Glacier, Alaska (Mission Control location: 61°42′09.3″N 147°37′23.2″W). We show performance on par with human performance across a wide range of mission morphologies using simulated mission data, and demonstrate the effectiveness of the algorithms at autonomously collecting samples with high relative cell concentration during field operation. The development of such algorithms will help enable autonomous science operations in environments where constant real-time human supervision is impractical, such as penetration of ice sheets on Earth and high-priority planetary science targets like Europa.

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Brinkley, Julian, Earl W. Huff, Kwajo Boateng e Suyash Ahire. "Autonomous Vehicle Design Anti-Patterns: Making Emerging Transportation Technologies Inaccessible by Design". Proceedings of the Human Factors and Ergonomics Society Annual Meeting 64, n.º 1 (dezembro de 2020): 1038–42. http://dx.doi.org/10.1177/1071181320641249.

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Fully autonomous or “self-driving” vehicles represent a potentially transformative shift in personal mobility. Given the emerging nature of self-driving vehicle technologies, however, guidance for accessible implementation is limited. It has been suggested that the result is that much of this emerging technology is being designed in a manner that will render it largely inaccessible for persons with disabilities. Borrowing from object-oriented programming we identify common barriers to accessibility which we argue are de facto anti- patterns in the design of accessible self-driving vehicle technology. Drawing from the literature and our own studies we describe design commonalities (anti-patterns) which we argue may pose problems for persons with disabilities. We believe that this work may provide direction for designers regarding how to better support the needs of persons with a range of disabilities in the self-driving vehicle context.

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Xu, Hongli, Hongxu Yang, Zhongyu Bai e Xiangyue Zhang. "Underwater Acoustically Guided Docking Method Based on Multi-Stage Planning". Journal of Marine Science and Engineering 11, n.º 8 (21 de agosto de 2023): 1629. http://dx.doi.org/10.3390/jmse11081629.

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Autonomous underwater vehicles (AUVs) are important in areas such as underwater scientific research and underwater resource collection. However, AUVs suffer from data portability and energy portability problems due to their physical size limitation. In this work, an acoustic guidance method for underwater docking is proposed to solve the problem of persistent underwater operation. A funnel docking station and an autonomous remotely operated vehicle (ARV) are used as the platform for designing the guidance algorithms. First, the underwater docking guidance is divided into three stages: a long-range approach stage, a mid-range adjustment stage and a short-range docking stage. Second, the relevant guidance strategy is designed for each stage to improve the docking performance. Third, a correction method based on an ultra-short baseline (USBL) system is proposed for the ARV’s estimate of the depth, relative position and orientation angle of the docking station. To verify the feasibility of the docking guidance method, in this work, tests were performed on a lake and in a shallow sea. The success rate of autonomous navigation docking on the lake was 4 out of 7. The success rate of acoustic guidance docking on the lake and in the shallow sea were 11 out of 14 and 6 out of 8, respectively. The experimental results show the effectiveness of the docking guidance method in lakes and shallow seas.

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Sutton, R., R. S. Burns e P. J. Craven. "Intelligent Steering Control of an Autonomous Underwater Vehicle". Journal of Navigation 53, n.º 3 (setembro de 2000): 511–25. http://dx.doi.org/10.1017/s0373463300008973.

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This paper considers the development of three autopilots for controlling the yaw responses of an autonomous underwater vehicle model. The autopilot designs are based on the adaptive network-based fuzzy inference system (ANFIS), a simulated, annealing-tuned control algorithm and a traditional proportional-derivative controller. In addition, each autopilot is integrated with a line-of-sight (LOS) guidance system to test its effectiveness in steering round a series of waypoints with and without the presence of sea current disturbance. Simulation results are presented that show the overall superiority of the ANFIS approach.

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Loken, Andrew E., Joshua S. Steelman, Scott K. Rosenbaugh e Ronald K. Faller. "Autonomous Vehicle Safe Operating Speeds on the Automated Skyway Express in Jacksonville, Florida". Transportation Research Record: Journal of the Transportation Research Board 2675, n.º 6 (17 de fevereiro de 2021): 188–99. http://dx.doi.org/10.1177/0361198121991834.

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Autonomous vehicles (AV) differ significantly from traditional passenger vehicles in both their behavior and physical characteristics. As such, the validity of the guidance provided in the Manual for Assessing Safety Hardware, Second Edition (MASH 2016) is questionable in AV applications. Impact angles, speeds, and vehicle weights specified in MASH 2016 are inextricably linked to the traditional vehicles underlying the estimates. For AV applications, these parameters must be estimated from the ground up, stepping outside the guidance of MASH 2016. In this paper, a conservative method for evaluating existing infrastructure to support AV traffic is proposed. The method integrates traditional structural analyses with unconventional methods of estimating impact conditions. This methodology was developed for the Jacksonville Transportation Authority, who, when faced with unique challenges in maintaining and expanding their Automated Skyway Express, opted to convert the system from monorail to AV traffic. Leading AV developers were surveyed to develop a portfolio of potential candidates for the conversion. Estimated impact conditions were then compared against the capacity of the system’s existing concrete parapets. Ultimately, safe operating speeds for each AV candidate were recommended on the bases of structural capacity and vehicle stability. All but one AV candidate were deemed capable of safely operating at the desired speed of 25 mph without any modifications to the barrier. Although the methodology was developed for a particular case, it is applicable to future implementations of AVs on existing infrastructure, provided the roadway is confined similarly to the Skyway deck.

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Yan, Zheping, Dongnan Chi, Shuping Hou e Yalin Zheng. "Underwater Environment SDAP Method Using Multi Single-Beam Sonars". Mathematical Problems in Engineering 2013 (2013): 1–17. http://dx.doi.org/10.1155/2013/718012.

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A new autopilot system for unmanned underwater vehicle (UUV) using multi-single-beam sonars is proposed for environmental exploration. The proposed autopilot system is known as simultaneous detection and patrolling (SDAP), which addresses two fundamental challenges: autonomous guidance and control. Autonomous guidance, autonomous path planning, and target tracking are based on the desired reference path which is reconstructed from the sonar data collected from the environmental contour with the predefined safety distance. The reference path is first estimated by using a support vector clustering inertia method and then refined by Bézier curves in order to satisfy the inertia property of the UUV. Differential geometry feedback linearization method is used to guide the vehicle entering into the predefined path while finite predictive stable inversion control algorithm is employed for autonomous target approaching. The experimental results from sea trials have demonstrated that the proposed system can provide satisfactory performance implying its great potential for future underwater exploration tasks.

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Liang, Xiao (Joyce), S. Ilgin Guler e Vikash V. Gayah. "Signal Timing Optimization with Connected Vehicle Technology: Platooning to Improve Computational Efficiency". Transportation Research Record: Journal of the Transportation Research Board 2672, n.º 18 (16 de julho de 2018): 81–92. http://dx.doi.org/10.1177/0361198118786842.

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This paper develops a real-time traffic signal optimization algorithm in the presence of connected and autonomous vehicles (CAVs). The proposed algorithm leverages information from connected vehicles (CVs) arriving at an intersection to identify naturally occurring platoons that consist of both CVs and non-CVs. Signal timings are then selected to optimize the sequence at which these platoons are allowed to discharge through the intersection to minimize total vehicle delay. Longitudinal trajectory guidance that explicitly accounts for vehicle acceleration and deceleration behavior is provided to the lead autonomous vehicle (AV) in any platoon to minimize the total number of stopping maneuvers performed by all vehicles. Simulation tests reveal that the proposed platoon-based algorithm provides superior computational savings (over 95%) compared with a previously developed algorithm that focuses on optimizing departure sequences of individual vehicles, with negligible changes in operational performance. The computational savings allow the platoon-based algorithm to accommodate intersections with four multi-lane approaches and left turns, whereas large computational costs limited the previous vehicle-based algorithm to only two single-lane approaches without conflicting left turns. Additional simulation tests of the platoon-based algorithm on these more realistic intersection configurations show that intersection performance increases as the penetration rate of CAVs in the vehicle fleet increases. However, the marginal benefits decrease rapidly after the fleet is composed of 40% CAVs.

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Xiang, Xianbo, Caoyang Yu, Zemin Niu e Qin Zhang. "Subsea Cable Tracking by Autonomous Underwater Vehicle with Magnetic Sensing Guidance". Sensors 16, n.º 8 (20 de agosto de 2016): 1335. http://dx.doi.org/10.3390/s16081335.

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