Séminaire (organisé par l’équipe de recherche ASER)

Danilo Alves de lima


Novel Vehicle Dynamics Control Technique for Enhancing Active Safety and Range Extension of Intelligent Electric Vehicles


Mardi 19 juin à 11h00 en A108


Résumé :

NAVIGATION OF AN AUTONOMOUS CAR USING VECTOR FIELDS AND THE DYNAMIC WINDOW APPROACH by Danilo ALVES DE LIMA

This work presents a safe navigation approach for a car-like robot. The approach relies on a global motion planning based on Velocities Vector Fields along with a Dynamic Window Approach for avoiding unmodeled obstacles. Basically, the vector field is associated to a controller whose outputs are validated, and eventually modified, by the Dynamic Window Approach and then applied as control inputs for the car. Experiments with a full-size autonomous car equipped with a stereo camera show that the vehicle was able to track the vector field and avoid obstacles in its way.



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FR SHIC 3272

Collegium UTC/CNRS