Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

Skačkauskas, P.; Sokolovskij, E.

doi:10.17531/ein.2018.4.6

Artykuł - szczegóły

Tytuł artykułu

Modification and reliability estimation of vector based Dubins path approach for autonomous ground vehicles path re-planning

Autorzy

Skačkauskas P. , Sokolovskij E.

Treść / Zawartość

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Identyfikatory

DOI

10.17531/ein.2018.4.6

Warianty tytułu

Poprawa i ocena niezawodności opartej na wektorowej metodzie trajektorii Dubinsa dla korekty trajektorii pojazdów autonomicznych

Języki publikacji

Abstrakty

Due to global purposes to ensure growth of a competitive and sustainable transport system, also to solve traffic safety and environmental problems, various engineering solutions are being sought out. It can be assumed that autonomous vehicles are the technology, which will ensure the positive change in the transport system. Even though many studies successfully advanced toward realisation of autonomous vehicles, a significant amount of technical and policy framework problems still has to be solved. This paper addresses the problem of predefined path feasibility and proposes an effective methodology for a path to follow re-planning. The proposed methodology is composed of three parts and is based on the Dubins path approach. In order to modify the vector based Dubins path approach and to ensure the path feasibility, the optimisation problem was solved. A cost function with different inequality constraints was formulated. The performance and reliability of the proposed methodology were analysed and evaluated by carrying out an experimental research while using the autonomous test vehicle.

Dla zapewnienia rozwoju konkurencyjnego i zrównoważonego systemu transportowego, oraz w celu rozwiązania problemów związanych z bezpieczeństwem ruchu i środowiskiem, poszukiwane są różne rozwiązania techniczne. Można założyć, że autonomiczne pojazdy są technologią, która zapewni pozytywną zmianę w systemie transportowym. Mimo że wiele badań z powodzeniem dotyczyło realizacji autonomicznych pojazdów, należy jeszcze rozwiązać wiele problemów technicznych i prawnych. W niniejszym dokumencie poruszono problem predefiniowanej wykonalności ścieżki i zaproponowano skuteczną metodologię dla ścieżki do śledzenia ponownego planowania. Proponowana metodologia składa się z trzech części i opiera się na metodzie Dubinsa. Aby zmodyfikować metodę trajektorii Dubinsa i zapewnić optymalną trajektorię, w publikacji rozwiązano zadanie optymalizacji. Sformułowana funkcja celu z różnymi nieliniowymi ograniczeniami. Skuteczność i niezawodność proponowanej metodologii została przeanalizowana i oceniona po przeprowadzeniu eksperymentalnych badań z wykorzystaniem autonomicznego pojazdu badawczego.

Słowa kluczowe

autonomous ground vehicle Dubins path path re-planning path following performance reliability estimation

samochód autonomiczny trajektoria Dubinsa przeplanowanie trajektorii śledzenie trajektorii skuteczność ocena niezawodności

Wydawca

Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne

Czasopismo

Eksploatacja i Niezawodność

Rocznik

2018

Tom

Vol. 20, no. 4

Strony

549--557

Opis fizyczny

Bibliogr. 37 poz., rys.

Twórcy

autor

Skačkauskas P.

paulius.skackauskas@vgtu.lt

Department of Automobile Engineering Vilnius Gediminas Technical University J. Basanavičiaus 28, LT-03224 Vilnius, Lithuania

autor

Sokolovskij E.

edgar.sokolovskij@vgtu.lt

Department of Automobile Engineering Vilnius Gediminas Technical University J. Basanavičiaus 28, LT-03224 Vilnius, Lithuania

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Bibliografia

Identyfikator YADDA

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