Planning and decision-making for autonomous vehicles
In this review, we provide an overview of emerging trends and challenges in the field of
intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of …
intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of …
Learning‐based nonlinear model predictive control to improve vision‐based mobile robot path tracking
This paper presents a Learning‐based Nonlinear Model Predictive Control (LB‐NMPC)
algorithm to achieve high‐performance path tracking in challenging off‐road terrain through …
algorithm to achieve high‐performance path tracking in challenging off‐road terrain through …
Visual-inertial-wheel odometry with online calibration
In this paper, we introduce a novel visual-inertial-wheel odometry (VIWO) system for ground
vehicles, which efficiently fuses multi-modal visual, inertial and 2D wheel odometry …
vehicles, which efficiently fuses multi-modal visual, inertial and 2D wheel odometry …
Vi-ikd: High-speed accurate off-road navigation using learned visual-inertial inverse kinodynamics
One of the key challenges in high-speed off-road navigation on ground vehicles is that the
kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the …
kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the …
Active disturbance rejection control for handling slip in tracked vehicle locomotion
This paper describes the use of an active disturbance rejection controller (ADRC) to
estimate and compensate for the effect of slip in an online manner to improve the path …
estimate and compensate for the effect of slip in an online manner to improve the path …
A multi-step dynamics modeling framework for autonomous driving in multiple environments
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road
autonomous vehicles have been extensively studied, off-road vehicles pose many …
autonomous vehicles have been extensively studied, off-road vehicles pose many …
High-fidelity yet fast dynamic models of wheeled mobile robots
Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally
mobile. To fully exploit this mobility, we present a novel dynamic model formulation for use in …
mobile. To fully exploit this mobility, we present a novel dynamic model formulation for use in …
Slip estimation for Mars rover Zhurong based on data drive
T Zhang, S Peng, Y Jia, H Tian, J Sun, C Yan - Applied Sciences, 2022 - mdpi.com
China's Mars rover Zhurong successfully landed on Mars on 15 May 2021, and it is currently
conducting an exploration mission on the Red Planet. This paper develops slip estimation …
conducting an exploration mission on the Red Planet. This paper develops slip estimation …
Calibration and improvement of an odometry model with dynamic wheel and lateral dynamics integration
Localization is a key part of an autonomous system, such as a self-driving car. The main
sensor for the task is the GNSS, however its limitations can be eliminated only by integrating …
sensor for the task is the GNSS, however its limitations can be eliminated only by integrating …
Dynamically feasible, energy efficient motion planning for skid-steered vehicles
Recent research has developed experimentally verified dynamic models for skid-steered
wheeled vehicles and used these results to derive a power model for this important class of …
wheeled vehicles and used these results to derive a power model for this important class of …