Autonomously following a leading vehicle is a major step towards fully autonomous vehicles. The contribution of this work consists in the development, implementation, and validation of two following modes: 1) Exact following: accurate compliance with the reference path. 2) Flexible following: tolerate deviation from the reference path in order to avoid obstacles. The proposed method can easily be integrated into existing frameworks for autonomous vehicles. Therefore our approach is flexible enough to be applied to a large variety of different vehicles. To demonstrate the feasibility of our approach an experimental validation is carried out on two autonomous vehicles with major differences in kinematics, weight, and size: A cross-country wheelchair and an off-road truck. Both exact and flexible following have been successfully demonstrated in unstructured outdoor environments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Generic Convoying Functionality for Autonomous Vehicles in Unstructured Outdoor Environments


    Contributors:


    Publication date :

    2020-10-19


    Size :

    3920850 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    GENERIC CONVOYING FUNCTIONALITY FOR AUTONOMOUS VEHICLES IN UNSTRUCTURED OUTDOOR ENVIRONMENTS

    Albrecht, Alexander / Heide, Nina Felicitas / Frese, Christian et al. | British Library Conference Proceedings | 2020


    Autonomous convoying technique for vehicles

    MUDALIGE UPALI PRIYANTHA / ZENG SHUQING | European Patent Office | 2015

    Free access

    Systems and methods for semi-autonomous convoying of vehicles

    SWITKES JOSHUA P / GERDES JOSEPH CHRISTIAN / BERDICHEVSKY EUGENE | European Patent Office | 2017

    Free access

    Demonstration of an Autonomous Convoying Concept

    Motazed, B. / Patukas, D. / Kelly, A. et al. | British Library Conference Proceedings | 1995


    Ground Vehicle Convoying

    Gage, Douglas W. / Pletta, J. Bryan | SPIE | 1987