Modeling of high speed vehicle for path following and obstacles avoidance
This research aims to develop a controller that has the ability to control high speed vehicle in avoiding obstacles while following prescribed path as accurately as possible. Every instant, the vehicle decides by itself how to modify its direction according to its environment. Each obstacle is repre...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2007
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| Subjects: | |
| Online Access: | http://scholars.utp.edu.my/id/eprint/446/ http://scholars.utp.edu.my/id/eprint/446/1/paper.pdf |
| _version_ | 1848658989158498304 |
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| author | N.H.H.M., Hanif Z.Y., Tan |
| author_facet | N.H.H.M., Hanif Z.Y., Tan |
| author_sort | N.H.H.M., Hanif |
| building | UTP Institutional Repository |
| collection | Online Access |
| description | This research aims to develop a controller that has the ability to control high speed vehicle in avoiding obstacles while following prescribed path as accurately as possible. Every instant, the vehicle decides by itself how to modify its direction according to its environment. Each obstacle is represented independent of the others as a bell-shaped hump by the Gaussian functions which serve as an obstacle recognition system. Multi-objective cost function is formed for the planning strategy to generate, evaluate and select plans so that the vehicle can select which direction to move. Neural network and optimal preview controllers are utilized to control a full linear steering model of a vehicle to increase path following accuracy. To conduct the specified works, MATLAB software was extensively used. Simulated obstacle avoidance has confirmed the capability of a vehicle to precisely avoid collision with obstacles while traveling on high speed along its predetermined path.
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| first_indexed | 2025-11-13T07:23:17Z |
| format | Conference or Workshop Item |
| id | oai:scholars.utp.edu.my:446 |
| institution | Universiti Teknologi Petronas |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-13T07:23:17Z |
| publishDate | 2007 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | oai:scholars.utp.edu.my:4462017-01-19T08:27:10Z http://scholars.utp.edu.my/id/eprint/446/ Modeling of high speed vehicle for path following and obstacles avoidance N.H.H.M., Hanif Z.Y., Tan TK Electrical engineering. Electronics Nuclear engineering This research aims to develop a controller that has the ability to control high speed vehicle in avoiding obstacles while following prescribed path as accurately as possible. Every instant, the vehicle decides by itself how to modify its direction according to its environment. Each obstacle is represented independent of the others as a bell-shaped hump by the Gaussian functions which serve as an obstacle recognition system. Multi-objective cost function is formed for the planning strategy to generate, evaluate and select plans so that the vehicle can select which direction to move. Neural network and optimal preview controllers are utilized to control a full linear steering model of a vehicle to increase path following accuracy. To conduct the specified works, MATLAB software was extensively used. Simulated obstacle avoidance has confirmed the capability of a vehicle to precisely avoid collision with obstacles while traveling on high speed along its predetermined path. 2007 Conference or Workshop Item NonPeerReviewed application/pdf en http://scholars.utp.edu.my/id/eprint/446/1/paper.pdf N.H.H.M., Hanif and Z.Y., Tan (2007) Modeling of high speed vehicle for path following and obstacles avoidance. In: 18th IASTED International Conference on Modelling and Simulation, MS 2007, 30 May 2007 through 1 June 2007, Montreal, QC. http://www.scopus.com/inward/record.url?eid=2-s2.0-56149124584&partnerID=40&md5=6f1b7121069b5cc9f1d889437696e742 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering N.H.H.M., Hanif Z.Y., Tan Modeling of high speed vehicle for path following and obstacles avoidance |
| title | Modeling of high speed vehicle for path following and obstacles avoidance
|
| title_full | Modeling of high speed vehicle for path following and obstacles avoidance
|
| title_fullStr | Modeling of high speed vehicle for path following and obstacles avoidance
|
| title_full_unstemmed | Modeling of high speed vehicle for path following and obstacles avoidance
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| title_short | Modeling of high speed vehicle for path following and obstacles avoidance
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| title_sort | modeling of high speed vehicle for path following and obstacles avoidance |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://scholars.utp.edu.my/id/eprint/446/ http://scholars.utp.edu.my/id/eprint/446/ http://scholars.utp.edu.my/id/eprint/446/1/paper.pdf |