This article presents a hybrid metaheuristic optimization algorithm that combines particle filter (PF) and swarm (PSO) algorithms. The new PF–PSO consists of two steps: the first generates randomly population;and second zooms search domain. An application this to optimal tuning proportional-integral-fuzzy controllers for position control family integral-type servo systems is then presented as contribution. reduction in algorithm's cost function allows reduced energy consumption fuzzy system....

Abstract Automated driving systems are often used for lane keeping tasks. By these systems, a local path is planned ahead of the vehicle. However, paths found unnatural by human drivers. In response to this, this paper proposes linear driver model, which can calculate node points reflective preferences and based on preferred motion be designed autonomous driving. The model input road curvature, effectively harnessed through self-developed Euler-curve-based curve fitting algorithm. A...

Pure-pursuit algorithm is a popular trajectory tracking algorithm, widely used in mobile robotics and vehicular control for numerous reasons. The operation simple straightforward as it depends only on the kinematic model of target mechanical system. can be tuned by choosing look-ahead distance points reference trajectory. On other hand, pure-pursuit suffers from weaknesses highly attributed to improper selection distance, resulting poor performance. Recent developments focused overcoming...

Road and sidewalk detection in urban scenarios is a challenging task because of the road imperfections high sensor data bandwidth. Traditional free space ground filter algorithms are not sensitive enough for small height differences. Camera-based or sensor-fusion solutions widely used to classify drivable from pavement. A LIDAR contains all necessary information which feature extraction can be done. Therefore, this paper focuses on LIDAR-based extraction. For detection, current presents...

Coverage path planning for mobile robots aims to compute the shortest that ensures overlap of a given area, with applications in various domains.This paper proposes coverage strategy, referred as Iterative Structured Orientation Coverage, which has two main advantages over state-of-the-art, namely it is versatile and capable handle complex environments.The strategy expressed three new approaches planning.The suggested are validated by simulation experimental results.The source codes along...

Investigations of the energy requirements tree shakers have shown that measured far exceeded theenergy predicted by theoretical calculations. Two main reasons been established for this: first, a given root and soil massis also part vibration system, second, existing methods determining damping coefficients soils thetree canopy (drop test, hammer striking) are not suitable, especially if displacements great amplitudes. In currentstudy, direct method was used to measure effective root-soil...

In this paper, we introduce a vehicle localization method designed for the SZEnergy race car, which competes in Shell Eco-marathon. The proposed comprises four different extended Kalman filter-based algorithms and selection algorithm that determines most suitable one based on speed, GNSS availability, signal quality. low-speed filters are kinematic model while high-speed variants dynamic model. Several measurements were performed during test maneuvers to evaluate performance of filters....

The advancement of autonomous vehicles (AVs) has brought forth a substantial need for effective education in robotic operating systems, particularly ROS 2, which serves as the backbone many vehicle (AV) applications. This paper explores academic approach and instructional methodologies tailored teaching 2 context technology. It highlights critical components architecture emphasizing its modularity, real-time communication capabilities, robust ecosystem make it ideal AV development. Through...

In this paper, we present an enhancement to the popular pure-pursuit algorithm, widely used in robotics and automotive applications. The original algorithm is simple straightforward as it depends only on very basic attributes of kinematic model target mechanical system. usually tuned by choosing a look-ahead distance points from reference trajectory. On other hand, suffers considerable tuning weaknesses highly attributed improper selection distance, resulting poor tracking performance. Our...

This paper presents a heuristic solution for the inverse kinematics problem. The consists on combining distance between actual position and desired of gripper with direction best manipulability robot. Theoretical results are validated by digital simulations resolute.

There is an increased number of Driver Assistance systems on the field, therefore need having naturalistic behavior these functions increasing. In our work trajectory planning task analyzed. A clothoid-based local algorithm proposed, which relies node points within look ahead distance. The point distances were optimized to yield a global close human drivers' path. Real driving data was used as optimization reference. As result optimization, we able determine characteristic distance set fits...

Nowadays software related tasks in experimental vehicle development are getting more and attention. These not only include the final product solutions such as motor control algorithm or telemetry system but even process, applications needed - for example on test bench. The paper presents our ideas to vehicles whole validation process.

The paper summarizes our ideas and solutions in the subject of developing a rapid prototype-capable robot platform. Constructing robotic platform for scientific researches means to find robust electrical mechanical system which is connected high computational device it easily programmable. Usually first two features can be funded industrial robots unfortunately do not possess last two. presented solution refers mobile (Neobotix MP500) tuned with an extra computer programmed LabVIEW.

In vehicle and robot navigation low-level tasks such as path planning, obstacle avoidance autonomous operation are extensively studied nowadays. Most of these task require map building. this paper a representation is discussed with the focus for singular domain our Neobotix MP500 mobile robot. Among others state art building techniques will be introduced topological map, line landmark-based course in more detail occupancy grid based map. The probabilistic examined problem given

In recent years, trajectory tracking of a mobile robot has been one the most addressed problems in specilized literature, as must have ability to follow trajectory, while also compensating various external and internal disturbances.This paper proposes an IEHO-STSM controller based on super-twisting sliding mode for path robot.First, new improved IEHO algorithm developed introduced, EHO (Elephant Herding Optimization) metaheuristic algorithm.The consisted improving performance basic such...

Among the many technological challenges of automated driving development, there is an increasing focus on behavior these systems. Behavior usually associated with multiple layers control. In this paper, we motion planning and control, how can be tailored to produce different behavior. Our review aims collect judge most used techniques in field path It has been revealed that model predictive control provides high flexibility, cost computational capacity. There are simpler algorithms, such as...

There are several global and local position estimation refinement techniques based on the GNSS (Global Navigation Satellite System) environmental monitoring (e.g., LIDAR, Light Detection Ranging). These usually a combination of multiple sensors using some form sensor fusion, together with filtering or observation technique. The behavior these algorithms may vary depending applied signals their accuracy under different conditions for vehicle types. In case systems that also use signals,...

Two experimental vehicles were developed during the last two years in Research Center of Vehicle Industry. The mentioned above are electrically driven and equipped with own computational modules. During development modules it was an important issue for us to create easily extendable systems which easy-to-use. Different applications realized vehicles, consequently, different requirements set up concerning our applications.

Global megatrends, such as urbanization, population growth, and emerging network solutions are accelerating the development of Connected Autonomous Vehicles (CAVs) industry. There many truths, some misconceptions, even excitement about CAVs in public's opinion. The main objective current article is to provide a comprehensive review, eliminate outline future optimization aspects autonomous vehicles by presenting various multidisciplinary methods, cooperative perception. Given our extensive...

In a vehicle, wheel speed sensors and inertial measurement units (IMUs) are present onboard, their raw data can be used for localization estimation. Both IMUs encounter challenges such as bias noise, which accumulate errors over time. Even slight inaccuracy or minor error render the system unreliable unusable in matter of seconds. Traditional algorithms, extended Kalman filter (EKF), have been applied long time non-linear systems. These systems white noise both estimation model. approaches...

In this paper, a case study is presented on the tactical level of autonomous vehicle control. Inspired by human driver behavior, control structured in hierarchy three levels: strategic, tactical, and operational level. These are connected specific links, based prior information models, transforming input data from environment into actuator commands various degree freedom vehicle. The presenting simulation scenario, detailing models with sensors, collection behavior selector.