Constraint-based planning and control for safe, semi-autonomous operation of vehicles

IEEE Intelligent Vehicles Symposium, Proceedings

Volumn , Issue , 2012, Pages 383-388

  Anderson, Sterling J ^a   Karumanchi, Sisir B ^a   Iagnemma, Karl ^a  

^a USA   (United States)

Author keywords

human machine interaction; obstacle avoidance; planning; Semi Autonomous control; shared adaptive control; teleoperation; unmanned ground vehicles

Indexed keywords

ADAPTIVE CONTROL; CONSTRAINT-BASED; CONTROL ACTIONS; CONTROL COMMAND; FEEDBACK MECHANISMS; HAZARD AVOIDANCE; HIGH-SPEED; HOMOTOPIC; HOMOTOPIES; HUMAN MACHINE INTERACTION; HUMAN OPERATOR; HUMAN-MACHINE SYSTEMS; MENTAL MODEL; PLANNING AND CONTROL; SAFETY CONSTRAINT; SEMI-AUTONOMOUS CONTROL; SEMI-AUTONOMOUS VEHICLES; SITUATIONAL AWARENESS; STABILITY CONTROL; UNMANNED GROUND VEHICLES; VEHICLE DYNAMICS;

COLLISION AVOIDANCE; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; PLANNING; REMOTE CONTROL; VEHICLES;

REMOTELY OPERATED VEHICLES;

EID: 84864986028     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IVS.2012.6232153     Document Type: Conference Paper

References (20)

1. National Highway Traffic Safety Administration (NHTSA), "2010 Motor Vehicle Crashes: Overview," US Department of Transportation, Washington, D.C., Research Note DOT HS 811 552, Feb. 2012.
2. Defense Manpower Data Center, Statistical Information Analysis Division, "Military Casualty Information: Global War on Terrorism," Data, Analysis, and Programs Division, Jan. 2012.
3. C. E. Lathan and M. Tracey, "The effects of operator spatial perception and sensory feedback on human-robot teleoperation performance," Presence, vol. 11, no. 4, p. 368-77, 2002.
4. J. Carlson and R. R. Murphy, "How UGVs physically fail in the field," Robotics, IEEE Transactions on, vol. 21, no. 3, pp. 423-437, 2005.
5. P. M. Fitts, M. S. Viteles, et al., "Human engineering for an effective air-navigation and traffic-control system, and appendixes 1 thru 3," Mar. 1951.
6. T. B. Sheridan and R. Parasuraman, "Human-Automation Interaction," Reviews of Human Factors and Ergonomics, vol. 1, no. 1, pp. 89-129, Jun. 2005.
7. J. Leonard, J. How, et al., "A perception-driven autonomous urban vehicle," Journal of Field Robotics, vol. 25, no. 10, pp. 727-774, 2008.
8. R. Vaidyanathan, C. Hocaoglu, T. S. Prince, and R. D. Quinn, "Evolutionary path planning for autonomous air vehicles using multiresolution path representation," in Proc. of IROS 2001, Maui, HI, United States, 2001, vol. 1, pp. 69-76.
9. E. J. Rossetter and J. Christian Gardes, "Lyapunov based performance guarantees for the potential field lane-keeping assistance system," Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, vol. 128, no. 3, pp. 510-522, 2006.
10. Dong Kwon Cho and Myung Jin Chung, "Intelligent motion control strategy for a mobile robot in the presence of moving obstacles," in Proceedings IROS '91. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mech. Systems, 3-5 Nov. 1991, New York, NY, USA, 1991, pp. 541-6.
11. Y. Kuwata, S. Karaman, J. Teo, E. Frazzoli, J. P. How, and G. Fiore, "Real-time motion planning with applications to autonomous urban driving," IEEE Transactions on Control Systems Technology, vol. 17, no. 5, p. 1105-18, Sep. 2009.
12. Hai-bin Yu and Lu Gao, "Two-degree-of-freedom vehicle steering controllers design based on four-wheel-steering-by-wire," International Journal of Vehicle Autonomous Systems, vol. 5, no. 1-2, pp. 47-78, 2007.
13. J. Jansson, "Collision avoidance theory with application to automotive collision mitigation," Doctoral Dissertation, Linkoping University, SE-581 83 LINKÖPING Sweden, 2005.
14. J. Pohl, W. Birk, and L. Westervall, "A driver-distraction-based lane-keeping assistance system," Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, vol. 221, no. 4, pp. 541-552, 2007.
15. R. Mobus and Z. Zomotor, "Constrained optimal control for lateral vehicle guidance," in Proceedings of the 2005 IEEE Intelligent Vehicles Symposium, 6-8 June 2005, Piscataway, NJ, USA, 2005, p. 429-34.
16. T. Pilutti, G. Ulsoy, and D. Hrovat, "Vehicle steering intervention through differential braking," in Proceedings of the 1995 American Control Conference, Jun 21-23 1995, Seattle, WA, USA, 1995, vol. 3, pp. 1667-1671.
17. A. Alleyne, "A comparison of alternative obstacle avoidance strategies for vehicle control," Vehicle System Dynamics, vol. 27, no. 5-6, p. 371-92, Jun. 1997.
18. T. Sattel and T. Brandt, "From robotics to automotive: Lane-keeping and collision avoidance based on elastic bands," Vehicle System Dynamics, vol. 46, no. 7, pp. 597-619, Jul. 2008.
19. J. J. Gibson and L. E. Crooks, "A Theoretical Field-Analysis of Automobile-Driving," The American Journal of Psychology, vol. 51, no. 3, pp. 453-471, Jul. 1938.
20. S. J. Anderson, S. C. Peters, T. E. Pilutti, and K. Iagnemma, "An Optimal-Control-Based Framework for Trajectory Planning, Threat Assessment, and Semi-Autonomous Control of Passenger Vehicles in Hazard Avoidance Scenarios," IJVAS, vol. 8, no. 2-4, pp. 190-216, 2010.