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| Title: | Autonomous control of a scale model of a trailer-truck using an obstacle-avoidance path-planning hierarchy | |
| Author (s): | Woodley, Robert Acar, Levent | |
| Department/Lab Affiliations: | Electrical and Computer Engineering Intelligent Systems Center | |
| Keywords: | sensors transceivers | |
| Subject Terms: | Automobiles--Collision avoidance systems. Intelligent control systems. Motor vehicles. | |
| Issue Date: | 2004 | |
| Publisher: | Institute of Electrical and Electronics Engineers IEEE | |
| Citation: | Woodley, Robert and Levent Acar. "Autonomous control of a scale model of a trailer-truck using an obstacle-avoidance path-planning hierarchy." Proceedings of the 2004 American Control Conference, Boston, Massachusetts, 30 June-2 July 2004. | |
| Abstract: | A scale model of a tractor-trailer truck was developed as a testbed for control algorithms. The truck operates in autonomous or semi-autonomous modes. An on-board Pentium computer with a PC104 bus performs the computations and data collection. Various sensors and a wireless transceiver are on-board the truck. Our research focus has been in the autonomous control of vehicles using intelligent systems. For this document we have employed a multi-resolutional hierarchy to plan a path for the tractor-trailer truck. The hierarchy starts with a simple path then warps it around obstacles. The modular construction of the hierarchy allows more intelligent agents to perform some of tasks. The current system has some limitations as to the placement of obstacles, however, it is an extremely fast algorithm and is able to handle some motion of the obstacles. | |
| Type: | Article - Conference proceedings text | |
| In Title: | Proceedings of the 2004 American Control Conference | |
| Copyright Notice: | This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. allows publisher's final version to be uploaded FULL COPYRIGHT INFORMATION: | |
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| title | Autonomous control of a scale model of a trailer-truck using an obstacle-avoidance path-planning hierarchy | |
| contributor.author | Woodley, Robert | |
| contributor.author | Acar, Levent | |
| contributor.deptlab | Electrical and Computer Engineering | |
| contributor.deptlab | Intelligent Systems Center | |
| subject | sensors | |
| subject | transceivers | |
| subject.LCSH | Automobiles--Collision avoidance systems. | |
| subject.LCSH | Intelligent control systems. | |
| subject.LCSH | Motor vehicles. | |
| date.issued | 2004 | |
| publisher | Institute of Electrical and Electronics Engineers IEEE | |
| identifier.citation | Woodley, Robert and Levent Acar. "Autonomous control of a scale model of a trailer-truck using an obstacle-avoidance path-planning hierarchy." Proceedings of the 2004 American Control Conference, Boston, Massachusetts, 30 June-2 July 2004. | |
| identifier.pub.URI | ||
| description.abstract | A scale model of a tractor-trailer truck was developed as a testbed for control algorithms. The truck operates in autonomous or semi-autonomous modes. An on-board Pentium computer with a PC104 bus performs the computations and data collection. Various sensors and a wireless transceiver are on-board the truck. Our research focus has been in the autonomous control of vehicles using intelligent systems. For this document we have employed a multi-resolutional hierarchy to plan a path for the tractor-trailer truck. The hierarchy starts with a simple path then warps it around obstacles. The modular construction of the hierarchy allows more intelligent agents to perform some of tasks. The current system has some limitations as to the placement of obstacles, however, it is an extremely fast algorithm and is able to handle some motion of the obstacles. | |
| type | Article - Conference proceedings | |
| type.DCMIType | text | |
| type.status | Final version | |
| rights | This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. | |
| rights | allows publisher's final version to be uploaded | |
| rights.URI | ||
| rights.URI | ||
| rights.URI | ||
| relation.isPartOf | Proceedings of the 2004 American Control Conference | |
| date.accessioned | 2008-07-18T20:30:01Z | |
| date.available | 2008-07-28T21:24:32Z | |
| identifier.persist.URI | ||
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