Autodriver Autonomous Vehicles Control Strategy | Zendy

Ching Nok To | Zendy; Hormoz Marzbani | Zendy; Dai Quoc Vo | Zendy; Milan Simić | Zendy; Hamid Khayyam | Zendy; Marzbani | Zendy; Reza N. Jazar | Zendy

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Autodriver Autonomous Vehicles Control Strategy

Author(s) -

Ching Nok To,

Hormoz Marzbani,

Dai Quoc Vo,

Milan Simić,

Hamid Khayyam,

Marzbani,

Reza N. Jazar

Publication year - 2018

Publication title -

procedia computer science

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.334

H-Index - 76

ISSN - 1877-0509

DOI - 10.1016/j.procs.2018.08.021

Subject(s) - curvature , instant centre of rotation , computer science , rotation (mathematics) , center (category theory) , path (computing) , radius , radius of curvature , center of curvature , trajectory , motion (physics) , computer vision , artificial intelligence , simulation , geometry , mathematics , mean curvature , mean curvature flow , computer security , physics , chemistry , astronomy , programming language , crystallography

Technically, a given geometric curve can be traced and recovered by its curvature center loci. We assume that a road is given mathematically and we are able to determine its curvature center. To follow a road, we make a vehicle to turn about the road curvature center at the right radius of curvature. We design an autonomous vehicle control that follows a given path by adjusting the vehicle rotation center to be on the road curvature center. The dynamics of the vehicle cause not to follow the road and the right path of motion. It means that its rotation center will move off from the road curvature center. We therefore develop and introduce an autodriver algorithm control to compensate the possible errors between the desired location on the road and the actual location of the vehicle.

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