Voronoi-based trajectory optimization for UGV path planning

© 2017 IEEE. Optimal path planning in dynamic environments for an unmanned vehicle is a complex task of mobile robotics that requires an integrated approach. This paper describes a path planning algorithm, which allows to build a preliminary motion trajectory using global information about environment, and then dynamically adjust the path in real-time by varying objective function weights. We introduce a set of key parameters for path optimization and the algorithm implementation in MATLAB. The developed algorithm is suitable for fast and robust trajectory tuning to a dynamically changing environment and is capable to provide efficient planning for mobile robots

A Survey on Obstacles Avoidance Mobile Robot in Static Unknown Environment

Autonomous mobile robots have in recent times gained interest from many researchers. This is due to wide range of mobile robot application. Numerous robots especially in navigation, obstacle avoidance and path following are currently under development. A reliable collision avoidance methodology is needed for effective navigation. Normally robots are fitted with transducers such as ultrasonic sensors, infrared and cameras for detecting environment. Various methods have been established in the past years to resolve navigational problems associated with mobile robots. They include fuzzy logic, potential fields, genetic algorithm, neural network and vision base approaches. Fuzzy logic demonstrates to be an appropriate tool for handling uncertainty that emerge from imprecise knowledge during route finding

Future cities and autonomous vehicles: analysis of the barriers to full adoption

The inevitable upcoming technology of autonomous vehicles (AVs) will affect our cities and several aspects of our lives. The widespread adoption of AVs repose at crossing distinct barriers that prevent their full adoption. This paper presents a critical review of recent debates about AVs and analyse the key barriers to their full adoption. This study has employed a mixed research methodology on a selected database of recently published research works. Thus, the outcomes of this review integrate the barriers into two main categories; (1) User/Government perspectives that include (i) Users' acceptance and behaviour, (ii) Safety, and (iii) Legislation. (2) Information and Communication Technologies (ICT) which include (i) Computer software and hardware, (ii) Communication systems V2X, and (iii) accurate positioning and mapping. Furthermore, a framework of barriers and their relations to AVs system architecture has been suggested to support future research and technology development

An adaptive urban planning framework to support autonomous car technologies

In the last few decades, there has been increased discussion around smart mobility and the development of autonomous vehicles (AVs). The upcoming technology of self-driving vehicles has the potential to improve the quality of urban living and enhance sustainability, but our cities are not yet ready to adopt AVs. The physical infrastructure and legislative frameworks required are not yet in place, and public attitudes towards AVs are unclear. Although a great deal of current discussion revolves around the technical aspects of self-driving vehicles and technological maturity, there is a lack of research examining the full range of barriers to AV adoption and the potential impacts on urban planning. In order to begin to fill this gap, this study explores the barriers to full AV adoption in detail and develops an adaptive urban framework to assist urban planners, citizens, politicians, and stakeholders in their planning decision-making around AVs. To achieve this aim, the study adopts a mixed-methods research methodology following the multilevel model triangulation research design, with four distinct implementation phases. In Phase One, document analysis and content analysis is carried out to identify and analyse the barriers to the adoption of AVs in today’s cities and to analyse AV vehicle specifications and assess their potential impact on the urban transportation infrastructure. The analysis identifies key barriers in the following areas: 1) Safety; 2) User acceptance; 3) Regulations and ethics; 4) Accurate positioning & mapping; 5) Computer software & hardware; and 6) Communication Systems (Networks). The outcomes of this phase contribute to the development of a framework of barriers to the full adoption of AVs combined with the AV system architecture, tracing their interrelations, and an initial list of recommendations. In Phase Two, a semi-structured survey targeting experts in a range of disciplines associated with AVs is used to validate the framework developed in Phase One and to determine the possible impacts on city planning and transportation infrastructure of a hypothetical journey through the city of Nottingham made by a fully autonomous vehicle (Level 4). This phase reveals that the majority of experts believe that both existing design principles and design guidance will be affected, with street elements such as roundabouts/intersections, zebra crossings, charging points, on-street parking, road signs, and drop points most severely affected. For instance, 61% of experts agree that AVs’ hubs should be in each neighborhood. 19% of experts argue that manual driving should be banned. In Phase Three, a structured survey targeting members of the public in Nottingham is used to analyse current public attitudes and behaviours in respect of AVs and to begin to identify factors which might drive AV adoption in future. 57% of people are expected to share AVs and 64% are expected to own them in the city. In terms of data privacy, 46% of people disagree with sharing their data. The final phase of the research involves combining the outcomes of the previous phases to create the final adaptive urban planning framework to support future planning decision-making around AVs. A detailed list of recommendations to address the technical, social and legislative barriers identified is also proposed. The study concludes by suggesting avenues for subsequent research to build on these outcomes and further support the adoption of AVs as part of moves to promote smart mobility and enhance the quality of life in our cities