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Showing 1 to 9 of 9 for “"Clothoid"”.
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An Investigation of the Clothoid Steering Model for Autonomous Vehicles
The clothoid, also known as the Cornu spiral, is a curve generated by linearly increasing or decreasing curvature as a function of arc length. The clothoid has been widely accepted as a logical curve for transitioning from straight segments to circle arcs in roads and railways, because a vehicle …
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Downhole Automation Using Spline, Catenary and Clothoid Curves Based on Minimum Wellpath Energy
In order to design a correction wellpath with minimum energy to bring a deviated path to designed well trajectory, an experimental downhole drilling automation is set up and applied. The criterion used to select the best curve between deviated point and target point is the minimization of well path …
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Adaptive Longitudinal and Lateral Control for Autonomous Vehicles: High-Speed Platooning of Articulated Trucks
… lateral control algorithm based on a modified clothoid controller. This lateral control framework is designed to minimize lateral acceleration (improving passenger comfort and safety) and reduce cross-track errors (CTEs) across various vehicle configurations, including articulated trucks. …
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Arc Path Collision Avoidance Algorithm for Autonomous Ground Vehicles
… for Ackerman or differentially steered vehicles. Clothoid curves have been used in the past to create smooth paths with continuously varying curvature, but clothoids are computationally intensive. The circular arc algorithm proposed here is designed with simplicity and versatility in mind. It is …
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Autonomous Vehicle Waypoint Navigation Using Hyper-Clothoids
… two control solutions, PID and the novel hyper-clothoid control strategy, to autonomously navigate a car. These waypoint navigation solutions smoothly connect the given waypoints with C1 continuity using Hermite cubic splines which is used as a reference path for the controller to track. The PID …
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Efficient Lateral Lane Position Sensing using Active Contour Modeling
… to estimate vehicle position within a lane. A clothoid lane line model based in real-world coor- dinates is projected into the image pixel-space where a novel approach to image segmentation and active contour modeling is performed. Another novel approach presented is the use of velocity as an …
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Numerical Methods for Optimal Control Problems with Application to Autonomous Vehicles
… of a quasi G2 fitting of the GPS data with a clothoid spline in terms of the G1 Hermite interpolation problem. In particular the present algorithm is proved to work better than state of the art algorithms in terms of both efficiency and precision.
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Cooperative Clothoidal-Estimation Based Lane Detection For Vehicle Platooning
Vehicle platooning is an advanced vehicle maneuver that allows for the simultaneous control of several vehicles traveling on the roadway cite{al2010experimental}. Automated platoons, when activated in tractor trailer convoys, have a high potential of increasing the fuel efficiency and improving the …
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Aproximace vlečných křivek
V této bakalářské práci bude věnována pozornost požadavkům na pohyb modelového vozidla a na jeho geometrické charakteristiky. Budou zde stanoveny a popsány postupy výpočtu pro definovanou trajektorii směrodatného vozidla. Také zde budou navrženy možné způsoby aproximace trajektorie modelového …