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Extended model predictive control scheme for smooth path following of autonomous vehicles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 4-4 doi: 10.1007/s11465-021-0660-4

Abstract: presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomousvehicles, which has multiple constraints and an integrated model of vehicle and road dynamics.constraints, which can improve the path following quality for better ride comfort and road availability of autonomousvehicles.

Keywords： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization    

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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 (AVs

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

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Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

Engineering doi: 10.1016/j.eng.2023.10.005

Abstract: While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthinessof decision-making remains a substantial challenge in realizing autonomous driving.vehicles.Moreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent duringThese results indicate that the autonomous driving agent can make trustworthy decisions and drastically

Keywords： Autonomous vehicle     Decision-making     Reinforcement learning     Adversarial attack     Safety guarantee    

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From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Strategic Study of CAE 2000, Volume 2, Issue 12,   Pages 29-33

Abstract:

A clear definition and a very fine classification of the unmanned undersea vehicles are given in thisthat the autonomous underwater vehicles at present is a hot spot in the research realm of the unmannedundersea vehicles.descriptions of the first remotely operated tethered vehicle “HR- 01” in China, the first autonomousunderwater vehicle “Explorer” and the autonomous underwater vehicle CR-01 (6 000 m).

Keywords： undersea vehicles     ROV     AUV     ocean engineer     ocean resources exploration    

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Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Strategic Study of CAE 2020, Volume 22, Issue 6,   Pages 26-31 doi: 10.15302/J-SSCAE-2020.06.004

Abstract: This study aims to propose a technical system layout for the autonomous underwater vehicles (AUVs) developmentefforts on breakthroughs in key technologies including perception, communication/navigation, energy, autonomous

Keywords： deep-sea exploration     autonomous underwater vehicles     development trend     key technologies     fundamental    

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Towards the Unified Principles for Level 5 Autonomous Vehicles Article

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Engineering 2021, Volume 7, Issue 9,   Pages 1313-1325 doi: 10.1016/j.eng.2020.10.018

Abstract:

The rapid advance of autonomous vehicles (AVs) has motivated new perspectives and potential challengesautomation level and vehicle intelligence, these systems
can be further advanced towards fully autonomousThe essential logical
and physical mechanisms of vehicles have hindered further progression towardsBy exploring the physical mechanisms behind high-level autonomous driving systems and analyzing the essencemode relying on the crow inference and parrot imitation approach, we explore the research paradigm of autonomous

Keywords： Autonomous vehicle     Principle of least action     Driving safety field     Autonomous learning     Basic paradigm    

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Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning Research Article

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 1,   Pages 131-140 doi: 10.1631/FITEE.2200128

Abstract: Ensuring the safety of s is essential and challenging when are involved. Classical avoidance strategies cannot handle uncertainty, and learning-based methods lack performance guarantees. In this paper we propose a (HRL) approach for to safely interact with s behaving uncertainly. The method integrates the rule-based strategy and reinforcement learning strategy. The confidence of both strategies is evaluated using the data recorded in the training process. Then we design an activation function to select the final policy with higher confidence. In this way, we can guarantee that the final policy performance is not worse than that of the rule-based policy. To demonstrate the effectiveness of the proposed method, we validate it in simulation using an accelerated testing technique to generate stochastic s. The results indicate that it increases the success rate for avoidance to 98.8%, compared with 94.4% of the baseline method.

Keywords： Pedestrian     Hybrid reinforcement learning     Autonomous vehicles     Decision-making    

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Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques Review

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

Engineering 2023, Volume 28, Issue 9,   Pages 26-48 doi: 10.1016/j.eng.2023.01.012

Abstract: vehicle-to-vehicle (V2V) communication, autonomizing a vehicle platoon can significantly reduce the distance between vehicles

Keywords： Autonomous vehicle platoon     Autonomous driving     Connected and automated vehicles     Scheduling and planning    

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Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment Special Feature on Intelligent Robats

Da-qi ZHU, Yun QU, Simon X. YANG

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3,   Pages 330-341 doi: 10.1631/FITEE.1800562

Abstract: An improved self-organizing neural network task allocation model of multiple autonomous underwater vehicles

Keywords： Autonomous underwater vehicles     Self-organizing neural networks     Azimuths     Ocean current    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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Robot Pilot: A New Autonomous System Toward Flying Manned Aerial Vehicles Article

Zibo Jin, Daochun Li, Jinwu Xiang

Engineering 2023, Volume 27, Issue 8,   Pages 242-253 doi: 10.1016/j.eng.2022.10.018

Abstract:

The robot pilot is a new concept of a robot system that pilots a manned aircraft, thereby forming a new type of unmanned aircraft system (UAS) that makes full use of the platform maturity, load capacity, and airworthiness of existing manned aircraft while greatly expanding the operation and application fields of UASs. In this research, the implementation and advantages of the robot pilot concept are discussed in
detail, and a helicopter robot pilot is proposed to fly manned helicopters. The robot manipulators are designed according to the handling characteristics of the helicopter-controlling mechanism. Based on a kinematic analysis of the robot manipulators, a direct-driving method is established for the robot flight controller to reduce the time delay and control error of the robot servo process. A supporting ground station
is built to realize different flight modes and the functional integration of the robot pilot. Finally, a prototype of the helicopter robot pilot is processed and installed in a helicopter to carry out flight tests. The test results show that the robot pilot can independently fly the helicopter to realize forward flight, backward flight, side flight, and turning flight, which verifies the effectiveness of the helicopter robot pilot.

Keywords： Helicopter     Robot pilot     Flight control     Unmanned system    

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

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.

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

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Thoughts and Suggestions on Autonomous Driving Map Policy

Liu Jingnan, Dong Yang, Zhan Jiao, Gao Kefu

Strategic Study of CAE 2019, Volume 21, Issue 3,   Pages 92-97 doi: 10.15302/J-SSCAE-2019.03.004

Abstract:

As a key infrastructure to realize autonomous driving, autonomous drivingmap is crucial to the commercial development of the autonomous driving field in China.Meanwhile, combining the development trends of domestic and international autonomous driving fields,driving vehicles in China: formulating an autonomous driving map management mode, allowing pilot applicationand orderly opening of autonomous driving maps, appropriately opening up corporate authorization and

Keywords： autonomous driving map     autonomous driving regulation     autonomous driving policy    

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A Flexible Multi-Layer Map Model Designed for Lane-Level Route Planning in Autonomous Vehicles Article

Kun Jiang, Diange Yang, Chaoran Liu, Tao Zhang, Zhongyang Xiao

Engineering 2019, Volume 5, Issue 2,   Pages 305-318 doi: 10.1016/j.eng.2018.11.032

Abstract:

An increasing number of drivers are relying on digital map navigation systems in vehicles or mobileproposes a novel seven-layer map structure, called as Tsinghua map model, which is able to support autonomous

Keywords： Lane-level     Route planning     Tsinghua map model     Travel cost model    

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Research on the theory and application of adsorbed natural gas used in new energy vehicles: A review

Zhengwei NIE,Yuyi LIN,Xiaoyi JIN

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 3,   Pages 258-274 doi: 10.1007/s11465-016-0381-2

Abstract: ANG constitutes a safe and low-cost way to store methane for natural gas vehicles at an acceptable energyliterature on adsorbents, adsorption theories, ANG conformable tanks, and related technologies on ANG vehiclesThe review aims at illustrating both achievements and problems of the ANG technologies-based vehicles

Keywords： adsorbed natural gas (ANG)     adsorbent     adsorption theory     conformable tank     natural gas vehicles (NGVs)    

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Title Author Date Type Operation

Extended model predictive control scheme for smooth path following of autonomous vehicles

Journal Article

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

Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

Journal Article

From Remotely Operated Vehicles to Autonomous Undersea Vehicles

Feng Xisheng

Journal Article

Development of Autonomous Underwater Vehicles Technology

Wu Yousheng, Zhao Yiyu, Lang Shuyan, Wang Chuanrong

Journal Article

Towards the Unified Principles for Level 5 Autonomous Vehicles

Jianqiang Wang, Heye Huang, Keqiang Li, Jun Li

Journal Article

Stochastic pedestrian avoidance for autonomous vehicles using hybrid reinforcement learning

Huiqian LI, Jin HUANG, Zhong CAO, Diange YANG, Zhihua ZHONG,lihq20@mails.tsinghua.edu.cn,huangjin@tsinghua.edu.cn,caoc15@mails.tsinghua.edu.cn,ydg@tsinghua.edu.cn

Journal Article

Large-Scale Vehicle Platooning: Advances and Challenges in Scheduling and Planning Techniques

Jing Hou, Guang Chen, Jin Huang, Yingjun Qiao, Lu Xiong, Fuxi Wen, Alois Knoll, Changjun Jiang

Journal Article

Multi-AUV SOM task allocation algorithm considering initial orientation and ocean current environment

Da-qi ZHU, Yun QU, Simon X. YANG

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Robot Pilot: A New Autonomous System Toward Flying Manned Aerial Vehicles

Zibo Jin, Daochun Li, Jinwu Xiang

Journal Article

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

Journal Article

Thoughts and Suggestions on Autonomous Driving Map Policy

Liu Jingnan, Dong Yang, Zhan Jiao, Gao Kefu

Journal Article

A Flexible Multi-Layer Map Model Designed for Lane-Level Route Planning in Autonomous Vehicles

Kun Jiang, Diange Yang, Chaoran Liu, Tao Zhang, Zhongyang Xiao

Journal Article

Research on the theory and application of adsorbed natural gas used in new energy vehicles: A review

Zhengwei NIE,Yuyi LIN,Xiaoyi JIN

Journal Article