Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation
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The Ohio State University / OhioLINK
2019
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| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602 |
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ndltd-OhioLink-oai-etd.ohiolink.edu-osu15555993971286022021-08-03T07:10:08Z Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation Capito Ruiz, Linda J. Electrical Engineering optical flow artificial potential field online path planning sliding mode control autonomous vehicle Lucas Kanade Shi-Tomasi Morse potential field Carla simulator driving simulators This thesis deals with the problem of online motion planning for a vehicle when the available environmental information is limited. It is expected that the car moves within a lane using only the ego information (global x; y; z position and roll, pitch and yaw angles) and the information from a camera mounted in the windshield without previous knowledge of the road (like a map). The images obtained from the camera are used to obtain the optical flow, i.e., the measure of the apparent motion of the environment ahead of the moving vehicle.The continuously changing optical flow allows recognizing some features on the road, which are then used for a road artificial potential field computation. That field is used to generate an online reference trajectory (desired orientation) for the vehicle.Then, a gradient tracking control based on sliding mode is used to make the vehicle move along the prescribed trajectory determined by the gradient lines. A regular sliding mode controller is used for the longitudinal tracking of speed. Carla simulator is used for deployment and testing, and some different weathers are tested to evaluate the performance of the proposed approach. 2019-07-29 English text The Ohio State University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602 http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws. |
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NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Electrical Engineering optical flow artificial potential field online path planning sliding mode control autonomous vehicle Lucas Kanade Shi-Tomasi Morse potential field Carla simulator driving simulators |
| spellingShingle |
Electrical Engineering optical flow artificial potential field online path planning sliding mode control autonomous vehicle Lucas Kanade Shi-Tomasi Morse potential field Carla simulator driving simulators Capito Ruiz, Linda J. Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation |
| author |
Capito Ruiz, Linda J. |
| author_facet |
Capito Ruiz, Linda J. |
| author_sort |
Capito Ruiz, Linda J. |
| title |
Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation |
| title_short |
Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation |
| title_full |
Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation |
| title_fullStr |
Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation |
| title_full_unstemmed |
Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation |
| title_sort |
optical flow-based artificial potential field generation for gradient tracking sliding mode control for autonomous vehicle navigation |
| publisher |
The Ohio State University / OhioLINK |
| publishDate |
2019 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602 |
| work_keys_str_mv |
AT capitoruizlindaj opticalflowbasedartificialpotentialfieldgenerationforgradienttrackingslidingmodecontrolforautonomousvehiclenavigation |
| _version_ |
1719455335648854016 |