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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Engineering doi: 10.1016/j.eng.2023.10.001

Abstract: This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVsConsidering the road constraints and vehicle dynamics, limited polynomial candidate trajectories areFurthermore, in selecting the optimal trajectory, we develop a unified and auto-tune objective function

Keywords： Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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A Probabilistic Architecture of Long-Term Vehicle Trajectory Prediction for Autonomous Driving Article

Jinxin Liu, Yugong Luo, Zhihua Zhong, Keqiang Li, Heye Huang, Hui Xiong

Engineering 2022, Volume 19, Issue 12,   Pages 228-239 doi: 10.1016/j.eng.2021.12.020

Abstract:

In mixed and dynamic traffic environments, accurate long-term trajectory forecasting of surroundingIn this paper, we propose an integrated probabilistic architecture for long-term vehicle trajectory prediction, which consists of a driving inference model (DIM) and a trajectory prediction model (TPM).The proposed DIM incorporates the basic traffic rules and multivariate vehicle motion information.develop a Gaussian process (GP)-based TPM, considering both the short-term prediction results of the vehicle

Keywords： Autonomous driving     Dynamic Bayesian network     Driving intention recognition     Gaussian process     Vehicletrajectory prediction    

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Design of Trajectory Tracking Controller Based on Vehicle Dynamics

Chen Yang,Liu Daxue,He Han’gen,Dai Bin

Strategic Study of CAE 2007, Volume 9, Issue 11,   Pages 68-73

Abstract:

Trajectory tracking is one of the core problem in navigation with mobile In this article,  feedback linearization method is used in the design of trajectory trackingcontroller for nonholonomic vehicle.

Keywords： trajectory tracking     feedback linearization     navigation    

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A Cyber-Physical Routing Protocol Exploiting Trajectory Dynamics for Mission-Oriented Flying Ad Hoc Article

Die Hu, Shaoshi Yang, Min Gong, Zhiyong Feng, Xuejun Zhu

Engineering 2022, Volume 19, Issue 12,   Pages 217-227 doi: 10.1016/j.eng.2021.10.022

Abstract: is proposed based on cross-disciplinary integration, which makes full use of the mission-determined trajectory

Keywords： Cyber-physical system     Flying ad hoc network (FANET)     Routing protocol     Trajectory dynamics     Unmannedaerial vehicle (UAV)    

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Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0706-2

Abstract: Multiobjective trajectory planning is still face challenges due to certain practical requirements andIn this paper, a multiobjective trajectory optimization approach that sets energy consumption, executionthat the proposed approach can provide the high-quality Pareto optimal solutions and outperforms other trajectory

Keywords： trajectory planning     electro-hydraulic shovel     cubic polynomial S-curve     multiobjective optimization    

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Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

Frontiers of Structural and Civil Engineering   Pages 994-1010 doi: 10.1007/s11709-023-0942-5

Abstract: The moving trajectory of the pipe-jacking machine (PJM), which primarily determines the end quality ofmodels to support drivers in performing rectifications in advance can effectively avoid considerable trajectoryrecurrent unit (GRU)-based deep learning framework is proposed herein to dynamically predict the moving trajectoryThe results show that the proposed framework can dynamically and precisely predict the PJM moving trajectoryThe proposed framework is expected to provide an effective decision support for moving trajectory control

Keywords： dynamic prediction     moving trajectory     pipe jacking     GRU     deep learning    

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Engineering doi: 10.1016/j.eng.2023.07.018

Abstract: The forward design of trajectory planning strategies requires preset trajectory optimization functionsSubsequently, a trajectory expectation feature-matching algorithm is proposed that uses maximum entropyFurthermore, a mapping model is constructed by combining the key driving scenario information that affects vehicleThe results show that the strategy can adjust the weight distribution of the trajectory optimizationfunction in real time according to the “emergency degree” of obstacle avoidance and the state of the vehicle

Keywords： Obstacle avoidance trajectory planning     Inverse reinforcement theory     Anthropomorphic     Adaptive driving    

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Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

Frontiers of Engineering Management 2017, Volume 4, Issue 4,   Pages 408-417 doi: 10.15302/J-FEM-2017042

Abstract: Train speed trajectory optimization is a significant issue in railway traffic systems, and it plays aTo appropriately characterize the uncertainties and generate a robust speed trajectory, this study specifically

Keywords： train speed trajectory optimization     railway operation     stochastic programming    

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autonomous mining: design and development of an unmanned electric shovel via point cloud-based optimal trajectory

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0686-2

Abstract: In the field of autonomous excavation, environmental perception and excavation trajectory planning areBased on optimal trajectory command, the UES performs autonomous excavation.On the basis of reconstructed surface, the PTP trajectory planning method rapidly obtains a reasonablemining trajectory with high fill factor and mining efficiency.Compared with the common excavation trajectory planning approaches, the proposed method tends to be more

Keywords： autonomous excavation     unmanned electric shovel     point cloud     excavation trajectory planning    

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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 2,   Pages 166-172 doi: 10.1631/FITEE.1400183

Abstract: The robot successfully followed the desired circular trajectory in the presence of wheel slippage and

Keywords： Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

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Real-time immune-inspired optimum state-of-charge trajectory estimation using upcoming route information

Ahmad MOZAFFARI,Mahyar VAJEDI,Nasser L. AZAD

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 2,   Pages 154-167 doi: 10.1007/s11465-015-0336-z

Abstract: The estimated SOC trajectory can be then employed for an intelligent power management to significantlyimprove the fuel economy of the vehicle.The devised intelligent SOC trajectory builder takes advantage of the upcoming route information previewartificial neural network (ANN) which is trained by a database obtained from a high-fidelity model of the vehiclefor the baseline vehicle, that is, the Toyota Prius PHEV.

Keywords： trip information preview     intelligent transportation     state-of-charge trajectory builder     immune systems    

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 23-28 doi: 10.1007/s11465-012-0304-9

Abstract:

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by

Keywords： mobile robot     trajectory planning     nonlinear dynamic     optimal control    

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Long March 3 Series Launch Vehicle

Long Lehao

Strategic Study of CAE 1999, Volume 1, Issue 1,   Pages 11-18

Abstract:

The background, design approach, system engineering, launch results and technical & development characteristics of LM - 3 series launch vehicles are presented, and the development of launch vehicles in the future is prospected. It is indicated that with advanced performance, these launch vehicles are the main force of commercial heavy lift in China.

Keywords： aerospace     heavy lift launch vehicle     launch services     LM - 3 series launch vehicle    

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Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system

Pei-qiu Huang, Yong Wang, Ke-zhi Wang,pqhuang@csu.edu.cn,ywang@csu.edu.cn,kezhi.wang@northumbria.ac.uk

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 12,   Pages 1671-1814 doi: 10.1631/FITEE.2000315

Abstract: We study a system assisted by (UAVs), where the UAVs act as edge servers to provide computing services for Internet of Things devices. Our goal is to minimize the energy consumption of this system by planning the trajectories of UAVs. This problem is difficult to address because when planning the trajectories, we need to consider not only the order of stop points (SPs), but also their deployment (including the number and locations) and the association between UAVs and SPs. To tackle this problem, we present an energy-efficient algorithm (TPA) which comprises three phases. In the first phase, a algorithm with a variable population size is adopted to update the number and locations of SPs at the same time. In the second phase, the
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Recent developments in passive interconnected vehicle suspension

Wade A. SMITH, Nong ZHANG,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 1,   Pages 1-18 doi: 10.1007/s11465-009-0092-z

Abstract: A finite-element-method-based approddach for modelling the transient dynamics of an HIS vehicle is also

Keywords： interconnected suspensions     rollover prevention     vehicle dynamics     ride comfort     multibody system dynamics    

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Title Author Date Type Operation

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Journal Article

A Probabilistic Architecture of Long-Term Vehicle Trajectory Prediction for Autonomous Driving

Jinxin Liu, Yugong Luo, Zhihua Zhong, Keqiang Li, Heye Huang, Hui Xiong

Journal Article

Design of Trajectory Tracking Controller Based on Vehicle Dynamics

Chen Yang,Liu Daxue,He Han’gen,Dai Bin

Journal Article

A Cyber-Physical Routing Protocol Exploiting Trajectory Dynamics for Mission-Oriented Flying Ad Hoc

Die Hu, Shaoshi Yang, Min Gong, Zhiyong Feng, Xuejun Zhu

Journal Article

Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

Journal Article

Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

Journal Article

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Journal Article

Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

Journal Article

autonomous mining: design and development of an unmanned electric shovel via point cloud-based optimal trajectory

Journal Article

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Journal Article

Real-time immune-inspired optimum state-of-charge trajectory estimation using upcoming route information

Ahmad MOZAFFARI,Mahyar VAJEDI,Nasser L. AZAD

Journal Article

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Journal Article

Long March 3 Series Launch Vehicle

Long Lehao

Journal Article

Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system

Pei-qiu Huang, Yong Wang, Ke-zhi Wang,pqhuang@csu.edu.cn,ywang@csu.edu.cn,kezhi.wang@northumbria.ac.uk

Journal Article

Recent developments in passive interconnected vehicle suspension

Wade A. SMITH, Nong ZHANG,

Journal Article