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A Global Optimal Path Planning and Controller Design Algorithm for Intelligent Vehicles

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A Global Optimal Path Planning and Controller Design Algorithm for Intelligent Vehicles

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dc.contributor.author Wang, Hai-wei es_ES
dc.contributor.author Yu, Xue-cai es_ES
dc.contributor.author Song, Hou-bing es_ES
dc.contributor.author Lu, Zhi-han es_ES
dc.contributor.author Lloret, Jaime es_ES
dc.contributor.author You, Feng es_ES
dc.date.accessioned 2019-04-03T20:03:02Z
dc.date.available 2019-04-03T20:03:02Z
dc.date.issued 2018 es_ES
dc.identifier.issn 1383-469X es_ES
dc.identifier.uri http://hdl.handle.net/10251/118944
dc.description.abstract [EN] Autonomous vehicle guidance and trajectory planning is one of the key technologies in the autonomous control system for intelligent vehicles. Firstly, the target pursuit model for intelligent vehicles was established and described in this text. Then, the research work for global motion planning was carried out based on Stackelberg Differential Game Theory, and the global optimal solution was obtained by using the survival type differential game. Finally, to overcome errors, we use a polynomial method to achieve the smooth motion planning. So, based on Terminal Sliding Mode method, the Active Front Steering controller design was used to calculate the desired active wheel angle for intelligent vehicle path tracking. The simulation and experiment results demonstrate the feasibility and effectiveness of this method for intelligent vehicles' path planning and tracking. es_ES
dc.description.sponsorship This paper is supported by the Zhejiang Provincial Natural Science Foundation under Grant No. LY13E080010. The first author would like to appreciate Dr. Xuecai Yu and the reviewers for the valuable discussions to improve the quality and presentation of the paper.
dc.language Inglés es_ES
dc.publisher Springer-Verlag es_ES
dc.relation.ispartof Mobile Networks and Applications es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Intelligent vehicle es_ES
dc.subject Path planning es_ES
dc.subject Differential game es_ES
dc.subject Polynomial method es_ES
dc.subject Controller design es_ES
dc.subject.classification INGENIERIA TELEMATICA es_ES
dc.title A Global Optimal Path Planning and Controller Design Algorithm for Intelligent Vehicles es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1007/s11036-016-0778-5 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/Natural Science Foundation of Zhejiang Province//LY13E080010/
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Comunicaciones - Departament de Comunicacions es_ES
dc.description.bibliographicCitation Wang, H.; Yu, X.; Song, H.; Lu, Z.; Lloret, J.; You, F. (2018). A Global Optimal Path Planning and Controller Design Algorithm for Intelligent Vehicles. Mobile Networks and Applications. 23(5):1165-1178. https://doi.org/10.1007/s11036-016-0778-5 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://doi.org/10.1007/s11036-016-0778-5 es_ES
dc.description.upvformatpinicio 1165 es_ES
dc.description.upvformatpfin 1178 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 23 es_ES
dc.description.issue 5 es_ES
dc.relation.pasarela S\376017 es_ES
dc.contributor.funder Natural Science Foundation of Zhejiang Province
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