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 | | Automobiles -- Automatic control
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|  | Lane changing, lane merging and overtaking behaviors of the intelligent vehicle system.
Author: Rai, Ravindra
Institution: University of the South Pacific.
Award: M.Sc.
Subject: Automobiles -- Automatic control, Intelligent transportation systems
Date: 2016
Call No.: Pac TL 152 .8 .R35 2016
BRN: 1206767
Copyright:10-20% of this thesis may be copied without the authors written permission
Abstract: This research proposes to explore the fundamentals of an emerging technique applicable, at least, to path planning and control of autonomous robots as well as robots in platoon formations. The formation control is advocated by employing path guidance principle and/or a leader follower strategy. The initial conditions establish the prescribed formation. A unique combination of inter-robot and inter-platoon avoidance schemes together with path-guidance principle achieves safe and collision free maneuverance. The individual targets (a leaderless approach) achieve the desired platoon formation in the final state. The leader (real and virtual)-follower strategy establishes prescribed formations via its mobile ghost targets and accomplishes lane changing and overtaking maneuver. This research proposes a set of decentralized, nonlinear acceleration control laws to control car-like mobile robots in various formations in lanes facilitating lane merging and overtaking maneuvers in constrained environments, whilst satisfying the nonholonomic and kinodynamic constraints associated with the system. Stability analysis of the system is carried out via the Direct Method of Lyapunov. This method guarantees the stability of the system and only certain initial configurations would numerically verify the guarantee of point stabilization. Based on the scenarios, appropriate Lyapunov functions are constructed within the framework of Lyapunov based control schemes (LbCS) and the respective acceleration-based controllers are derived. The effectiveness of the control laws is demonstrated in a number of scenarios via various computer simulations depicting real-life road traffic situations.This research proposes to explore the fundamentals of an emerging technique applicable, at least, to path planning and control of autonomous robots as well as robots in platoon formations. The formation control is advocated by employing path guidance principle and/or a leader follower strategy. The initial conditions establish the prescribed formation. A unique combination of inter-robot and inter-platoon avoidance schemes together with path-guidance principle achieves safe and collision free maneuverance. The individual targets (a leaderless approach) achieve the desired platoon formation in the final state. The leader (real and virtual)-follower strategy establishes prescribed formations via its mobile ghost targets and accomplishes lane changing and overtaking maneuver. This research proposes a set of decentralized, nonlinear acceleration control laws to control car-like mobile robots in various formations in lanes facilitating lane merging and overtaking maneuvers in constrained environments, whilst satisfying the nonholonomic and kinodynamic constraints associated with the system. Stability analysis of the system is carried out via the Direct Method of Lyapunov. This method guarantees the stability of the system and only certain initial configurations would numerically verify the guarantee of point stabilization. Based on the scenarios, appropriate Lyapunov functions are constructed within the framework of Lyapunov based control schemes (LbCS) and the respective acceleration-based controllers are derived. The effectiveness of the control laws is demonstrated in a number of scenarios via various computer simulations depicting real-life road traffic situations.
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