Vehicle navigation in populated areas using predictive control with environmental uncertainty handling
This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strat...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2017-06-01
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| Series: | Archives of Control Sciences |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/acsc.2017.27.issue-2/acsc-2017-0023/acsc-2017-0023.xml?format=INT |
| _version_ | 1819227266598567936 |
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| author | Skrzypczyk Krzysztof Mellado Martin |
| author_facet | Skrzypczyk Krzysztof Mellado Martin |
| author_sort | Skrzypczyk Krzysztof |
| collection | DOAJ |
| description | This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB. |
| first_indexed | 2024-12-23T10:38:39Z |
| format | Article |
| id | doaj.art-24769cb79c5f4fa48a71560f7d157c1f |
| institution | Directory Open Access Journal |
| issn | 2300-2611 |
| language | English |
| last_indexed | 2024-12-23T10:38:39Z |
| publishDate | 2017-06-01 |
| publisher | Polish Academy of Sciences |
| record_format | Article |
| series | Archives of Control Sciences |
| spelling | doaj.art-24769cb79c5f4fa48a71560f7d157c1f2022-12-21T17:50:14ZengPolish Academy of SciencesArchives of Control Sciences2300-26112017-06-0127235135910.1515/acsc-2017-0023acsc-2017-0023Vehicle navigation in populated areas using predictive control with environmental uncertainty handlingSkrzypczyk Krzysztof0Mellado Martin1Institute of Automatic Control, Silesian University of Technology, Akademicka str. 16, 44-100Gliwice, PolandInstituto de Automática e Informática Industrial Universidad Politecnica de Valencia, SpainThis paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.http://www.degruyter.com/view/j/acsc.2017.27.issue-2/acsc-2017-0023/acsc-2017-0023.xml?format=INTmotion planningpredictionuncertainty handlinggame theory |
| spellingShingle | Skrzypczyk Krzysztof Mellado Martin Vehicle navigation in populated areas using predictive control with environmental uncertainty handling Archives of Control Sciences motion planning prediction uncertainty handling game theory |
| title | Vehicle navigation in populated areas using predictive control with environmental uncertainty handling |
| title_full | Vehicle navigation in populated areas using predictive control with environmental uncertainty handling |
| title_fullStr | Vehicle navigation in populated areas using predictive control with environmental uncertainty handling |
| title_full_unstemmed | Vehicle navigation in populated areas using predictive control with environmental uncertainty handling |
| title_short | Vehicle navigation in populated areas using predictive control with environmental uncertainty handling |
| title_sort | vehicle navigation in populated areas using predictive control with environmental uncertainty handling |
| topic | motion planning prediction uncertainty handling game theory |
| url | http://www.degruyter.com/view/j/acsc.2017.27.issue-2/acsc-2017-0023/acsc-2017-0023.xml?format=INT |
| work_keys_str_mv | AT skrzypczykkrzysztof vehiclenavigationinpopulatedareasusingpredictivecontrolwithenvironmentaluncertaintyhandling AT melladomartin vehiclenavigationinpopulatedareasusingpredictivecontrolwithenvironmentaluncertaintyhandling |