Journal ArticleDOI
Complex-Track Following in Real-Time Using Model-Based Predictive Control
Wael Farag,Wael Farag +1 more
TLDR
The analysis shows that the proposed controller with its tuning technique outperforms the other classical ones like PID.Abstract:
In this paper, a comprehensive Model-Predictive-Control (MPC) controller that enables effective complex track maneuvering for Self-Driving Cars (SDC) is proposed. The paper presents the full design details and the implementation stages of the proposed SDC-MPC. The controller receives several input signals such as an accurate car position measurement from the localization module of the SDC measured in global map coordinates, the instantaneous vehicle speed, as well as, the reference trajectory from the path planner of the SDC. Then, the SDC-MPC generates a steering (angle) command to the SDC in addition to a throttle (speed/brake) command. The proposed cost function of the SDC-MPC (which is one of the main contributions of this paper) is very comprehensive and is composed of several terms. Each term has its own sub-objective that contributes to the overall optimization problem. The main goal is to find a solution that can satisfy the purposes of these terms according to their weights (contribution) in the combined objective (cost) function. Extensive simulation studies in complex tracks with many sharp turns have been carried out to evaluate the performance of the proposed controller at different speeds. The analysis shows that the proposed controller with its tuning technique outperforms the other classical ones like PID. The usefulness and the shortcomings of the proposed controller are also discussed in details.read more
Citations
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Journal ArticleDOI
Kalman-filter-based sensor fusion applied to road-objects detection and tracking for autonomous vehicles:
Wael Farag,Wael Farag +1 more
TL;DR: The proposed real-time road-Object Detection and Tracking method for autonomous driving is based on the fusion of lidar and radar measurement data, and a customized Unscented Kalman Filter is employed for their data fusion.
Journal ArticleDOI
Real-Time Autonomous Vehicle Localization Based on Particle and Unscented Kalman Filters
Wael Farag,Wael Farag +1 more
TL;DR: In this paper, a real-time Monte Carlo localization (RT_MCL) method for autonomous cars is proposed, which is based on the fusion of lidar and radar measurement data for object detection, a pole-like landmarks probabilistic map and a tailored particle filter for pose estimation.
Proceedings ArticleDOI
Multi-Agent Reinforcement Learning using the Deep Distributed Distributional Deterministic Policy Gradients Algorithm
TL;DR: In this article, the Deep Distributed Distributional Deterministic Policy Gradients (D4PG) reinforcement learning algorithm is adopted to train a multi-agent action in a cooperative game environment.
Journal ArticleDOI
Road-objects tracking for autonomous driving using lidar and radar fusion
Wael Farag,Wael Farag +1 more
TL;DR: The performance of the UKF fusion is compared to that of the Extended Kalman Filter fusion (EKF) showing its superiority and the proposed technique is implemented using the high-performance language C++ and utilizes highly optimized math and optimization libraries for best real-time performance.
Journal ArticleDOI
Model predictive path tracking control for automated road vehicles: A review
Pawel M. Stano,Umberto Montanaro,Davide Tavernini,M. Tufo,Giovanni Fiengo,Luigi Novella,Aldo Sorniotti +6 more
TL;DR: In this article , the authors present a comprehensive and updated survey on MPC for path tracking, with a focus on the recent development trends and likely areas of further research. But, despite the very large number of publications of the last few years, the literature lacks an updated survey.
References
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Journal ArticleDOI
Using Inertial Sensors for Position and Orientation Estimation
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