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Vehicle Reference Generator for Collision-free Paths

Tarek Kabbani, Cuauhtemoc Acosta Lúa, and Stefano Di Gennaro
International Journal of Control, Automation, and Systems, vol. 17, no. 1, pp.181-192, 2019

Abstract : "This paper presents a reference generator for ground vehicles. The generated trajectories avoid collisions with obstacles, and can be used for vehicle autonomous driving or for active control of manned vehicles. This generator integrates artificial forces of potential fields of the object surrounding the vehicle. The potential fields are adapted to the vehicular environment on a road. The reference generator is used with a dynamic controller to ensure the tracking of the accident-free reference. The performance of the proposed generator-based controller is tested on a simulated road scenario."

Keyword : "Active vehicle control, autonomous driving, collision-free trajectory, dynamic controller, potential fields, reference generator, vehicle dynamics."

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