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Lateral stability analysis and MPC tracking control for articulated heavy vehicles
(2022-10-01)
Articulated heavy vehicles (AHVs) exhibit poor maneuverability during curved-path negotiations and low lateral stability under high-speed evasive maneuvers, which may lead to unstable motion modes, e.g., trailer-sway and ...
Sidewalk extraction using deep learning and cost-based route optimization with mini-max objective function
(2023-12-01)
With the growing diversification of modern urban transportation options, such as small-scale autonomous delivery vehicles, autonomous patrol robots, e-bikes, and e-scooters, sidewalks have gained newfound importance as ...
Design synthesis of NLMPC-based tracking controller for autonomous vehicles with active aerodynamic control
(2022-12-01)
The past three decades have witnessed extensive studies on tracking-control for autonomous vehicles (AVs). However, there is a lack of studies on effective design methods in this field. To tackle this problem, this thesis ...