Forthcoming articles


International Journal of Vehicle Autonomous Systems


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International Journal of Vehicle Autonomous Systems (3 papers in press)


Regular Issues


  • Optimal mobile robot path planning in the presence of moving obstacles   Order a copy of this article
    by Adriano Zambom 
    Abstract: This paper presents an optimisation method to search for the optimal trajectory of an unmanned mobile robot while avoiding stationary and moving obstacles that may be in collision route. In order to meet the kinematic restrictions of the vehicle, the path is estimated using a finite-dimensional approximating space generated by B-splines basis functions. A penalised continuous function is used to convert the constrained minimisation problem into an unconstrained one. The optimisation is performed through a genetic algorithm that searches the finite-dimensional space of the B-splines coefficients, which determine the trajectory to be travelled. Experimental results with linear and nonlinear moving obstacle fields illustrate the estimated optimal trajectories.
    Keywords: autonomous vehicle; genetic algorithm; B-splines; kinematics; constrained optimisation.

  • Development of shared steering torque system of electric vehicles in presence of driver behaviour estimation   Order a copy of this article
    by Khalfaoui Mohamed, Hartani Kada, Abdelkader Merah, Norediene Aouadj 
    Abstract: This paper proposes a new approach to develop a preventive driver assistance system for lane-keeping of electric vehicles. It is used to add a steering torque to that of the driver when there is degradation in driver performance (fatigue, drowsiness or inattention). Based on a cybernetic model of the driver, the drivers behaviour has been estimated by using an extended Kalman filter. An optimal linear quadratic regulator (LQR) controller is designed to impose a corrected steering torque on the steering wheel by minimising the cost function that contains all signals related to the electric vehicle and the drivers behaviour. The proposed controller model, based on three degrees of freedom, has been implemented on an electric vehicle using MATLAB/Simulink environment. The performance of the cooperative operation between the driver and the active steering torque controller is further evaluated by simulation tests.
    Keywords: electric vehicles; driver assistance system; lateral control; lane keeping; LQR control; Kalman filter.

  • Real-time path planning module for autonomous vehicles in cluttered environment using a 3D camera   Order a copy of this article
    by Sobers Lourdu Xavier Francis, Sreenatha G. Anavatti, Matthew Garratt 
    Abstract: This paper is concerned with the real-time path planning of AGVs in a cluttered environment. In order to perform real-time operations with limited processing resources, an efficient path-planning algorithm and identification of the obstacles by a single sensor are presented. For an AGV, path planning in a cluttered environment is a challenging task due to its lack of information about the surroundings and its need to re-plan its path quickly whenever it senses obstacles nearby. Therefore, an efficient path-planning algorithm that offers an AGV sufficient time to re-plan its path to avoid moving obstacles is proposed and, to measure its computational efficacy, its time complexity is considered. In real-time experimentation of autonomous path-planning, AGV relies completely on perception system to sense the immediate environment and avoid obstacles when it traverses towards the goal. As the Time-of-Flight (ToF)-based PMD (Photonic Mixer Device) three dimensional (3D) sensor can provide range and intensity data at low computational cost, it is used as a single proprioceptive sensor to detect static and dynamic obstacles.
    Keywords: path planning; scene flow; 3D ToF camera; PMD camera; graph search algorithm.