지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2022.11
- 수록면
- 1,636 - 1,641 (6page)
이용수
초록· 키워드
오류제보하기
Ensuring safe motion planning of autonomous vehicles, especially on collision avoidance in an emergency, is challenging. Many optimal control methods have been proposed for safe and efficient nonlinear motion planning. It is well known that iterative linear quadratic regulator (iLQR) is particularly suitable for nonlinear optimization. Although many methods have been developed to solve the inequality constrained differential dynamic programming (DDP), this paper proposes a method for efficient vehicle motion planning by using discrete barrier states to iLQR. In the proposed method, multiple inequality constraints such as obstacle avoidance and road boundaries are reflected in a single barrier
state in the collision avoidance scenario and applied to the iLQR/DDP framework. For comparison, both the unconstrained iLQR using the potential field method and the barrier state iLQR proposed in this study were simulated in the collision avoidance scenario. We tested on a real-time software-in-the-loop simulation using CarMaker and ROS. Compared with the unconstrained iLQR, our proposed method generated a safe and efficient optimized trajectory for autonomous vehicles in emergency situations such as fishhook tests.
state in the collision avoidance scenario and applied to the iLQR/DDP framework. For comparison, both the unconstrained iLQR using the potential field method and the barrier state iLQR proposed in this study were simulated in the collision avoidance scenario. We tested on a real-time software-in-the-loop simulation using CarMaker and ROS. Compared with the unconstrained iLQR, our proposed method generated a safe and efficient optimized trajectory for autonomous vehicles in emergency situations such as fishhook tests.
목차
Abstract
1. INTRODUCTION
2. ITERATIVE LQR WITH DISCRETE BARRIER STATES
3. APPLICATION
4. REAL-TIME SIMULATION AND RESULTS
5. CONCLUSION AND DISCUSSION
REFERENCES
참고문헌 (0)
참고문헌 신청함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Model Predictive Control for an Aerial Manipulator Opening a Hinged Door
제어로봇시스템학회 국제학술대회 논문집
2019 .10
-
A Target Assignment and Path Planning Framework for Multi-USV Defensive Pursuit
제어로봇시스템학회 국제학술대회 논문집
2021 .10
-
제어장벽함수와 심층강화학습을 결합한 안전강화학습 제어기 연구
제어로봇시스템학회 논문지
2022 .11
-
Development of An Efficient and Practical Control System in Autonomous Vehicle Competition
제어로봇시스템학회 국제학술대회 논문집
2019 .10
-
Longitudinal and Lateral Integrated Safe Trajectory Planning of Autonomous Vehicle via Friction Limit
제어로봇시스템학회 국제학술대회 논문집
2020 .10
-
Barrier Lyapunov Function-Based Safe Reinforcement Learning Algorithm for Autonomous Vehicles with System Uncertainty
제어로봇시스템학회 국제학술대회 논문집
2021 .10
-
자율주행 차량의 경로 추종 제어기로서의 반복 LQR 제어기의 GPU 를 통한 병렬화
한국정밀공학회 학술발표대회 논문집
2021 .11
-
On Reverse-ordered Implementation of Differential Dynamic Programming for Unconstrained Optimal Control Problem
제어로봇시스템학회 국제학술대회 논문집
2023 .10
-
Integrating Control Barrier Function and Residual Learning for Safe High-Speed Obstacle Avoidance in Autonomous Vehicle
한국자동차공학회 춘계학술대회
2024 .06
-
Grid-Based Integrated Safety-Critical Motion Planning for Unmanned Mobile Vehicles
제어로봇시스템학회 국제학술대회 논문집
2024 .10
-
Trajectory Generation Method based on DDP for 6-DOF Collaborative Robot
제어로봇시스템학회 국제학술대회 논문집
2023 .10
-
가상 환경에서의 강화학습 기반 긴급 회피 조향 제어
드라이브·컨트롤
2022 .12
-
자율주행을 위한 기능적 관점에서의 고장안전 체계
대한기계학회 춘추학술대회
2017 .11
-
Numerical Analysis of Model-less Iterative Learning Control for a class of Nonlinear systems
대한기계학회 춘추학술대회
2019 .05
-
도심 자율주행을 위한 Quadratic Programming 최적화 기반 지역 경로 계획 알고리즘 개발
한국자동차공학회 춘계학술대회
2023 .05
-
Structural optimal control based on explicit time-domain method
Structural Engineering and Mechanics, An Int＇l Journal
2023 .03
-
가상환경을 활용한 최적화 기반 경로계획 기법 개발
제어로봇시스템학회 논문지
2023 .06
-
무인 수상정의 경로점 추종을 위한 선형 시스템 및 적분 오차 변수 기반 LQR 제어기 설계
제어로봇시스템학회 논문지
2022 .06
-
Robust Model Predictive Control-Based Autonomous Steering System for Collision Avoidance
제어로봇시스템학회 국제학술대회 논문집
2023 .10
-
The Cognitive Driving Framework : Joint Inference for Collision Prediction and Avoidance in Autonomous Vehicles
제어로봇시스템학회 국제학술대회 논문집
2015 .10
이 논문의 저자 정보
이 논문과 함께 이용한 논문
최근 본 자료
댓글(0)
0