From robotics to automotive: Lane-keeping and collision avoidance based on elastic bands

Vehicle System Dynamics

Volumn 46, Issue 7, 2008, Pages 597-619

  Sattel, Thomas ^a   Brandt, Thorsten ^a  

^a UNIVERSITY OF PADERBORN   (Germany)

Author keywords

Collision avoidance; Driver assistance; Human machine interaction; Lane keeping; Path planning; Potential field

Indexed keywords

AUTOMATION; AUTOMOBILE DRIVERS; AUTOMOBILE PARTS AND EQUIPMENT; HAPTIC INTERFACES; MOTION PLANNING; ROBOTICS; ROBOTS; STEERING;

ASSISTANCE SYSTEMS; AUTOMOTIVE APPLICATIONS; CONTROL LOOPS; DIFFERENT TYPES; ELASTIC BAND (NEB); MOTION PLANNING PROBLEMS; PLANNING PROCEDURE; POTENTIAL FIELDS; ROBOTIC APPLICATIONS; STEERING ANGLES; VEHICLE GUIDANCE;

AUTOMOBILE STEERING EQUIPMENT;

EID: 46149116838     PISSN: 00423114     EISSN: 17445159     Source Type: Journal    
DOI: 10.1080/00423110701543452     Document Type: Article

References (17)

1. C. Bruedigam, Intelligente Fahrmanöver sehender autonomer Fahrzeuge in autobahnähnlicher Umgebung Intelligent Maneuvers of autonomous ground vehicles with sensor-vision on highway-like environments PhD-Thesis, University of the Federal Armed Forces, Muenich, Germany, 1994.
2. D. Reichardt, Kontinuierliche Verhaltenssteuerung eines Autonomen Fahrzeugs in Dynamischer Umgebung, Continous behaviour based control of an autonomous ground vehicle in dynamic environment PhD-Thesis, University of Technology Kaiserslautern, Germany, 1996.
3. C. Stiller,A. Simon, and Weisser, H.A driving robot for autonomous vehicles on extreme courses, In Proceedings of 1st Conference on Telematics Applications in Automation and Robotics. Ravensburg-Weingarten, Germany, July 2001, pp. 361-367.
4. F. Mildner, Untersuchungen zur Erkennung und Vermeidung von Unfällen für Kraftfahrzeuge, Investigations of the detection and avoidance of accidents for vehicles, PhD-Thesis, Helmut Schmidt University, University of the Federal Armed Forces, Hamburg, Germany, 2004.
5. M. Montemerlo, S. Thrun, H. Dalkamp, D. Stavens, and S. Strohband, Winning the DARPA Grand Challenge with an AI Robot. The 21st National Conference on Artificial Intelligence and the 18th Innovative Applications of Artificial Intelligence Conference, AAAI, July 16-20, 2006, Boston, Massachusetts, USA.
6. B.H.Krogh, A generalized potentialfield approach to obstacle avoidance control, In Proceedings of International Robotics Research Conference Bethlehem, Pennsylvania, August 1984.
7. O. Khatib, Real-time obstacle avoidance for manipulation and mobile robots, Int. J. Robotics Res. 5(1) (1986), pp. 90-98.
8. J.-C. Latombe, Robot Motion Planning, Kluwer Academic Publisher, ISBN 0-7923-9206-X, 1993.
9. C.I. Connolly, and R.A. Grupen, The applications of harmonic functions to robotics, J. Robotic Syst. 10(7) (1993), pp. 931-946.
10. S. Quinlan, and O. Khatib, Elastic bands: Connecting path planning and control, IEEE International Conference on Robotics and Automation, Atlanta, USA, Vol. 2, 1993, pp. 802-807.
11. T. Brandt, T. Sattel, and J. Wallaschek, Towards vehicle trajectory planning for collision avoidance based on elastic bands, Int. J. Vehicle Autonomous Syst. 5(1-2) (2006), pp. 28-46.
12. F. Flemisch, C.Adams, S. Conway et al., The H-Methaphor as a guidline for vehicle automation and interaction, NASA, TM-2003-212672, December 2003.
13. P. Griffiths and R.B. Gillespie, Shared control between human and machine: Haptic display of automation during manual control of vehicle heading, In Proceedings of 12th International Sympotium Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'04), pp. 358-366, IEEE Computer Soc., March 2004.
14. N. Karl and G. Reichart, Driver Assistance Systems for Lateral and Longitudinal Vehicle Guidance-Heading Control and Active Cruise Support, in International Symposium on Advanced Vehicle Control (AVEC). Japan, Oktober 1994, pp. 449-454.
15. C.J. Gerdes and E.J. Rossetter, A unified approach to driver assistance systems based on artificial potential fields, J. Dyn. Syst. Measure. Control, 123(3) September 2001, pp. 431-438.
16. M. Mitschke and H. Wallentowitz, Dynamik der Kraftfahrzeuge [Vehicle dynamics] Springer, Berlin Heidelberg, Germany, 2004.
17. J.M. Ortega and W.C. Rheinboldt, Iterative Solution of Nonlinear Equations in Several Variables, Academic Press, New York, 1970.