Path Planning for Vehicles Operating in Uncertain 2D Environments

Viacheslav Pshikhopov

• Publisher: Butterworth-Heinemann
• Year: 2017
• ISBN:
  9780128123065
• Topic: Technology & Engineering
• Subtopic: Robotics
• Index: Technology & Engineering

Path Planning for Vehicles Operating in Uncertain 2D-environments presents a survey that includes several path planning methods developed using fuzzy logic, grapho-analytical search, neural networks, and neural-like structures, procedures of genetic search, and unstable motion modes.

• Presents a survey of accounting limitations imposed by vehicle dynamics
• Proposes modified and new original methods, including neural networking, grapho-analytical, and nature-inspired
• Gives tools for a novice researcher to select a method that would suit their needs or help to synthesize new hybrid methods

Chapter One

Position-Path Control of a Vehicle

V. Pshikhopov, and M. Medvedev Southern Federal University, Taganrog, Russia

Abstract

The first chapter presents an analysis of problems related to vehicle control. The introduced mathematical model is built based on solid body equations, which includes the equations of kinematics, dynamics, and actuators. The structure of the mathematical model of a solid body is described in a 3D environment. Using the general model, the vehicle's model is created for a wheeled cart which is used in modeling examples in the rest of the book. The flat test scenes are described and the positions of goals and obstacles are given. Mechanisms of planning the paths as a union of linear and quadratic forms being the functions of vehicle's external coordinates are presented in this chapter. A wheeled cart vehicle with a multilayered control system is considered. The solutions generated by the planning level are implemented using the synthesized motion-control algorithms. The requirements are formulated for the motion planners; and performance criteria are given to estimate the planning algorithms. The limitations on the sensors characteristics, actuators, and environment are discussed.

Keywords

Motion controller; Motion planner; Solid body model; Wheeled vehicle

1.1. Motion-Control Systems Problems Analysis

Motion control is one of the most developing areas stimulating improvement of control theory and its applications. Every new generation of vehicles introduces new requirements to conditions, modes, and quality of their functioning. The range of tasks becomes wider and wider. The diversity of vehicles, their environments, and the tasks brings out a wide spectrum of practical and theoretical problems emerging in motion-control systems development.

For example, the work [1] mentions the necessity of developing motion-control automation because of unfavorable human influence in critical situations under short time and with large amounts of information. It also indicates that the creation of perspective vehicles requires the increase of accuracy and speed, invariance to disturbances, and obtaining the qualities of adaptivity and autonomy. These should be achieved under the conditions of incompleteness of a priori information and in uncertainty of external disturbances and environment.

As a result, providing the autonomy to vehicles becomes the main task. This implies a powerful system of path planning and motion performing [2].

An analogous analysis was implemented in...

Table of contents

• Cover image
• Title page
• Table of Contents
• Copyright
• List of Contributors
• Acknowledgment
• Abbreviations
• Introduction
• Chapter One. Position-Path Control of a Vehicle
• Chapter Two. Neural Networking Path Planning Based on Neural-Like Structures
• Chapter Three. Vehicles Fuzzy Control Under the Conditions of Uncertainty
• Chapter Four. Genetic Algorithms Path Planning
• Chapter Five. Graphic-Analytical Approaches to Vehicle's Motion Planning
• Chapter Six. Motion Planning and Control Using Bionic Approaches Based on Unstable Modes
• Summary
• Glossary
• Index