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Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles

機譯：有人駕駛和無人駕駛地面車輛的半自動穩(wěn)定控制和避免危險

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This paper presents a method for trajectory planning, threat assessment, and semi-autonomous control of manned and unmanned ground vehicles. A model predictive controller iteratively replans a stability-optimal trajectory through the safe region of the environment while a threat assessor and semiautonomous control law modulate driver and controller inputs to maintain stability, preserve controllability, and ensure that the vehicle avoids obstacles and hazardous areas. The efficacy of this approach in avoiding hazards while accounting for various types of human error, including errors caused by time delays, is demonstrated in simulation.

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Anderson, S. J.; Peters, S. C.; Iagnemma, K.; Overholt, J.;
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年度 2010
頁碼 1-9
總頁數(shù) 9
原文格式 PDF
正文語種 eng
中圖分類工業(yè)技術;
關鍵詞
Threat evaluation ; Ground vehicles ; Hazards ; Avoidance ; Performance(Human) ; Planning ; Manned ; Unmanned ; Simulation ; Trajectories ; Control theory ; Symposia ; Time intervals ; Safety;

機譯：威脅評估;地面車輛;危險;規(guī)避;性能（人）;規(guī)劃;有人駕駛;無人駕駛;模擬;軌跡;控制理論;專題討論會;時間間隔;安全;

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1. An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios [J] . Sterling J. Anderson, Steven C. Peters, Tom E. Pilutti, International Journal of Vehicle Autonomous Systems . 2010,第2a4期

機譯：基于最佳控制的框架，用于在避險場景中的客運車輛軌跡規(guī)劃，威脅評估和半自主控制
2. Steering control based on model predictive control for obstacle avoidance of unmanned ground vehicle [J] . Measurement and Control: Journal of the Institute of Measurement and Control . 2020,第3a4期

機譯：基于模型預測控制的轉向控制避免無人機地面車輛的障礙
3. Path planning of collision avoidance for unmanned ground vehicles: A nonlinear model predictive control approach [J] . Peng Hang, Sunan Huang, Xinbo Chen, Journal of Systems and Control Engineering . 2021,第2期

機譯：無人機地面車輛避免碰撞的路徑規(guī)劃：非線性模型預測控制方法
4. THE ROLE OF MODEL FIDELITY IN MODEL PREDICTIVE CONTROL BASED HAZARD AVOIDANCE IN UNMANNED GROUND VEHICLES USING LIDAR SENSORS [C] . Jiechao Liu, Paramsothy Jayakumar, James L. Overholt, ASME annual dynamic systems and control conference . 2014

機譯：基于模型預測的基于模型預測控制的危險性避免在無地面車輛中的應用
5. Identify and improve obstacle avoidance capability of unmanned ground vehicle [D] . Nie, Chenghui 2015

機譯：識別并提高無人地面車輛的避障能力
6. Mobility Control of Unmanned Aerial Vehicle as Communication Relay to Optimize Ground-to-Air Uplinks [O] . Gaofeng Wu, Xiaoguang Gao, Kaifang Wan 2020

機譯：無人飛行器作為通信中繼的移動性控制以優(yōu)化地對空上行鏈路
7. Hazard avoidance for high-speed rough-terrain unmanned ground vehicles [O] . Spenko Matthew J. (Matthew Julius) 1976- 2005

機譯：高速越野無人地面車輛的危險避免

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Semi-Autonomous Stability Control and Hazard Avoidance for Manned and Unmanned Ground Vehicles

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