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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Optimal Lane Merging for AGV


    Additional title:

    Studies in Systems, Decision and Control


    Contributors:


    Publication date :

    2020-02-12


    Size :

    20 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    LANE MERGING DETERMINATION APPARATUS

    HABU TOSHIYA / YOKOYAMA TAKAHISA | European Patent Office | 2016

    Free access

    Lane merging determination apparatus

    HABU TOSHIYA / YOKOYAMA TAKAHISA | European Patent Office | 2020

    Free access

    LANE MERGING ASSIST SYSTEM

    HASHIMOTO RYUTA / IWASAKI MASAHIRO / OTAKE YUKIO et al. | European Patent Office | 2016

    Free access

    System for autonomous lane merging

    LIKHACHEV MAXIM / RATNER ELLIS MARSHAL / LYU LU et al. | European Patent Office | 2020

    Free access

    System For Autonomous Lane Merging

    LIKHACHEV MAXIM / RATNER ELLIS MARSHAL / LYU LU et al. | European Patent Office | 2019

    Free access