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Maksym Diachuk and Said M. Easa
The paper presents a technique of motion planning for autonomous vehicles (AV) based on simultaneous trajectory and speed optimization. The method includes representing the trajectory by a finite element (FE), determining trajectory parameters in Frenet ...
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Lei Sun, Honglei An, Hongxu Ma, Qing Wei and Jialong Gao
Lower limb knee?ankle prostheses can effectively assist above-knee amputees in completing their basic daily activities. This study explored methods for estimating the joint kinematics of intelligent lower limb prostheses to better adapt them to the walki...
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Yasuhiro Akiyama, Shuto Yamada, Shogo Okamoto and Yoji Yamada
The simulation of fall plays a critical role in estimating injuries caused by fall. However, implementing human fall mitigation motions on a simulator proves challenging due to the complexity and variability of fall movement. Our simulator estimates fall...
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Xunqian Xu, Qi Li, Shue Li, Fengyi Kang, Guozhi Wan, Tao Wu and Siwen Wang
Based on the tunnel crack width identification, there are operating time constraints, limited operating space, high equipment testing costs, and other issues. In this paper, a large subway tunnel is a research object, and the tunnel rail inspection car i...
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Jianshi Li, Jingtao Lou, Yongle Li, Shiju Pan and Youchun Xu
This paper proposes a clothoid-curve-based trajectory tracking control method for autonomous vehicles to solve the problem of tracking errors caused by the discontinuous curvature of the control curve calculated by the pure pursuit tracking algorithm. Fi...
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Yiqun Li, Shaoqiang Liang, Jiahui Gao, Zong Chen, Siyuan Qiao and Zhouping Yin
Due to the limitation of space rover onboard computing resources and energy, there is an urgent need for high-quality drive trajectories in complex environments, which can be provided by delicately designed motion optimization methods. The nonconvexity o...
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Jianjian Liang, Shoukun Wang and Bo Wang
This paper proposes the creative idea that an unmanned fixed-wing aircraft should automatically adjust its 3D landing trajectory online to land on a given touchdown point, instead of following a pre-designed fixed glide slope angle or a landing path comp...
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Xi Lyu, Yushan Sun, Lifeng Wang, Jiehui Tan and Liwen Zhang
This study aims to solve the problems of sparse reward, single policy, and poor environmental adaptability in the local motion planning task of autonomous underwater vehicles (AUVs). We propose a two-layer deep deterministic policy gradient algorithm-bas...
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Juan Li, Zhenyang Tian, Gengshi Zhang and Wenbo Li
For the problem of hydroacoustic communication constraints in multi-AUV leader follower formation, this paper designs a formation control method combining CNN-LSTM prediction and backstepping sliding mode control. First, a feedback linearization method i...
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Xiao Yang and Qilong Han
The avoidance of collisions among ships requires addressing various factors such as perception, decision-making, and control. These factors pose many challenges for autonomous collision avoidance. Traditional collision avoidance methods have encountered ...
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