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Modeling of high speed vehicle for path following and obstacles avoidance

N.H.H.M., Hanif and Z.Y., Tan (2007) Modeling of high speed vehicle for path following and obstacles avoidance. In: 18th IASTED International Conference on Modelling and Simulation, MS 2007, 30 May 2007 through 1 June 2007, Montreal, QC.

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Abstract

This research aims to develop a controller that has the ability to control high speed vehicle in avoiding obstacles while following prescribed path as accurately as possible. Every instant, the vehicle decides by itself how to modify its direction according to its environment. Each obstacle is represented independent of the others as a bell-shaped hump by the Gaussian functions which serve as an obstacle recognition system. Multi-objective cost function is formed for the planning strategy to generate, evaluate and select plans so that the vehicle can select which direction to move. Neural network and optimal preview controllers are utilized to control a full linear steering model of a vehicle to increase path following accuracy. To conduct the specified works, MATLAB software was extensively used. Simulated obstacle avoidance has confirmed the capability of a vehicle to precisely avoid collision with obstacles while traveling on high speed along its predetermined path.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:Collision avoidance; Fischer-Tropsch synthesis; Functions; MATLAB; Neural networks; Probability density function; Avoiding obstacles; Collision with obstacles; Gaussian functions; High speeds; MATLAB softwares; Obstacle avoidances; Obstacle collision avoidance; Obstacle recognitions; Obstacles avoidances; Optimal preview controllers; Path following; Path followings; Planning strategies; Vehicles
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments / MOR / COE:Departments > Electrical & Electronic Engineering
ID Code:446
Deposited By: Noor Hazrin Hany Mohd Hanif
Deposited On:09 Mar 2010 02:00
Last Modified:19 Jan 2017 08:27

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