A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles

AbstractThis paper proposes a motion planner for autonomous parking. Compared to the prevailing and emerging studies that handle specific or regular parking scenarios only, our method describes various kinds of parking cases in a unified way regardless they are regular parking scenarios (e.g., parallel, perpendicular or echelon parking cases) or not. First, we formulate a time-optimal dynamic optimization problem with vehicle kinematics, collision-avoidance conditions and mechanical constraints strictly described. Thereafter, an interior-point simultaneous approach is introduced to solve that formulated dynamic optimization problem. Simulation results validate that our proposed motion planning method can tackle general parking scenarios. The tested parking scenarios in this paper can be regarded as benchmark cases to evaluate the efficiency of methods that may emerge in the future. Our established dynamic optimization problem is an open and unified framework, where other complicated user-specific constraints/optimization criteria can be handled without additional difficulty, provided that they are expressed through inequalities/polynomial explicitly. This proposed motion planner may be suitable for the next-generation intelligent parking-garage system

Expert system for ship lock control based on computational intelligence

U disertaciji je dato jedno rešenje automatskog operativnog upravljanja dvosmernom brodskom prevodnicom sa jednom komorom. Kreiran je ekspertski sistem zasnovan na rasplinutoj (fuzzy) logici. Upravljački sistem je testiran na modelu brodske prevodnice koji je kreiran na osnovu statističkih podataka o gustini saobraćaja na hidrosistemu DTD (Dunav-Tisa-Dunav), na osnovu tehničke dokumentacije brodske prevodnice i na osnovu razgovora sa operaterima. Sistem je zatim optimizovan globalnim algoritmima optimizacije. Dobijeno rešenje se pokazalo značajno bolje u poređenju sa standardnim algoritmima odluke.This thesis presents a solution to automatic control of a two-way one-channel ship lock. Expert system based on fuzzy logic is designed. This control system is tested on model of ship lock created using statistical data of transportation density on DTD (Danube-Tisa-Danube) channel, using technical documentation of ship lock and interview with operators. The system is further optimized with global optimization techniques. Given solution proved to be significantly better than standard decision algorithms