Proceedings ArticleDOI
Autonomous Overtaking Maneuver Design based on Follow the Gap Method.
Munire Damla Demir,Volkan Sezer +1 more
- pp 295-302
TLDR
This paper is the first study using FGM to solve the overtaking problem, and shows several advantages of FGM comparing to the X-sin functions based overtaking approach.Abstract:
This paper proposes a solution for one of the most important components of autonomous driving: "overtaking maneuver". Follow the Gap method (FGM) is oneof the most popular obstacle avoidance algorithms and directly obtains steering angle from position of the obstacles around. This paper is the first study using FGM to solve the overtaking problem. Different from previous studies where a trajectory is planned and then a controller is designed to track it; we use FGM for motion planning and control together. This paper focuses on overtaking maneuver in a challenging environment like highway traffic where the safety and fast response are the key factors. After we adapt the FGM to overtaking problem, we compare it with an existing overtaking method X-sin functions from literature. Since X-sin functions method requires a path tracker (controller), Stanley method is combined with X-sin functions. At the end of this work, we show several advantages of FGM comparing to the X-sin functions based overtaking approach.read more
Citations
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Journal ArticleDOI
Critical Design and Control Issues of Indoor Autonomous Mobile Robots: A Review
Md. A. K. Niloy,Anika Shama,Ripon K. Chakrabortty,Michael J. Ryan,Faisal R. Badal,Zinat Tasneem,Hafiz Ahamed,Sumaya I. Moyeen,Sajal K. Das,F. Ali,Rabiul Islam,Dip Kumar Saha +11 more
TL;DR: In this article, a survey of the essential factors of autonomous mobile robots in terms of mathematical modeling, control issues, and challenging factors is presented, and a guideline for researchers entering the field or for innovators in the mobile robotics sector is provided.
Journal ArticleDOI
A new gap-based obstacle avoidance approach: follow the obstacle circle method
Hosein Houshyari,Volkan Sezer +1 more
Journal ArticleDOI
A novel approach of overtaking maneuvering using modified RG method
TL;DR: A novel approach of overtaking maneuvering using modified form of Rendezvous Guidance (RG) algorithm for trajectory planning and obstacle avoidance, considering driver safety and comfort during autonomous overtaking.
Journal ArticleDOI
A New Gap Selection Strategy for Follow the Gap Method
Hosein Houshyari,Volkan Sezer +1 more
TL;DR: A new procedure is developed to improve the gap selection in FGM, where the gaps are selected based on the prediction of gap changes during the time, considering the distance between the robot and obstacles in the future.
References
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Journal ArticleDOI
A novel obstacle avoidance algorithm: Follow the Gap Method
Volkan Sezer,Metin Gokasan +1 more
TL;DR: The proposed algorithm brings a new solution to the problem and has several advantages compared to previous methods and is very promising for application in mobile and industrial robotics where obstacle avoidance is a feature of the robotic system.
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