This paper addresses the generation of an optimal constrained trajectory for lane merging tasks. The developed algorithm ensure a safe and a less fuel consumption for autonomous driving. The security is established with the restriction of both the lateral and the longitudinal AGV’s position inside a safe zone while accomplishing a lane change to overtake an obstacle or to follow a lead vehicle. However the path’s optimality is carried out by minimizing the lateral and the longitudinal cost functions. The generated trajectory is then tracked accurately with an adaptive computed torque controller. The whole approach is then validated with numerical simulations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Optimal Lane Merging for AGV


    Weitere Titelangaben:

    Studies in Systems, Decision and Control


    Beteiligte:
    Ghommam, Jawhar (Herausgeber:in) / Derbel, Nabil (Herausgeber:in) / Zhu, Quanmin (Herausgeber:in) / Osman, Kawther (Autor:in) / Ghommam, Jawhar (Autor:in) / Saad, Maarouf (Autor:in)


    Erscheinungsdatum :

    2020-02-12


    Format / Umfang :

    20 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Lane merging determination apparatus

    HABU TOSHIYA / YOKOYAMA TAKAHISA | Europäisches Patentamt | 2020

    Freier Zugriff

    LANE MERGING ASSIST SYSTEM

    HASHIMOTO RYUTA / IWASAKI MASAHIRO / OTAKE YUKIO et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    LANE MERGING DETERMINATION APPARATUS

    HABU TOSHIYA / YOKOYAMA TAKAHISA | Europäisches Patentamt | 2016

    Freier Zugriff

    System for autonomous lane merging

    LIKHACHEV MAXIM / RATNER ELLIS MARSHAL / LYU LU et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    System For Autonomous Lane Merging

    LIKHACHEV MAXIM / RATNER ELLIS MARSHAL / LYU LU et al. | Europäisches Patentamt | 2019

    Freier Zugriff