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Through the use of a virtual trailer link model, autonomous vehicle following capabilities have been demonstrated. The principle is based on the modelling of the trailer link, used in the off-hooked trailer system, as a virtual link between the leading and led vehicles. The leader vehicle is modelled as the tractor (towing vehicle) and the follower vehicle(More)
As an increasing number of automatic safety and navigation features are added to modern vehicles, the crucial job of providing real-time localisation is predominantly performed by a single sensor, GPS, despite its well-known failings, particularly in urban environments. Various attempts have been made to supplement GPS to improve localisation performance,(More)
A robust vehicle following system with obstacle avoidance capabilities for operation in natural environments is described in this paper. By combining a novel vehicle-tracking and detection algorithm with our path-planner for autonomous navigation, it was possible for a tracked logistics armoured ambulance carrier to follow a multi purpose vehicle in an(More)
Tele-operated systems allow humans to extend their physical capabilities and enable them to intervene in hazardous operations or where their presence is not possible. However, the operation of such systems over long periods has proved to be difficult and stressful. Consequently, means to facilitate their use are the subject of much study and experimental(More)
In an obstacle filled environment, path planning solutions that use accurate Global Positioning System (GPS) coordinates of obstacles need to reconsider the inaccuracies of positioning when the differential GPS is not available. Typical GPS positioning systems operating without the differential component, are able to provide a default Central Error(More)
A novel approach for the development of a 3D laser radar (LADAR) system for vehicle guidance is presented. A rotating mirror assembly is used to deflect the beam scan of a 2D laser to obtain the 3/sup rd/ dimension. The mirror assembly is constructed by joining six mirrors to form a hexagon-shaped reflector. By rotating this mirror assembly in front of the(More)
Simultaneous localization and mapping problem for mobile robots has received considerable attention over the last decade. The widely used formulation of the SLAM problem has been the augmented state approach in an estimation theoretic framework. Although, many related issues of SLAM such as computational complexity, loop closing and data association have(More)
Intersections are the most complex and hazardous areas of the road network, and 89% of accidents at intersection are caused by driver error. We focus on these accidents and propose a novel approach to risk assessment: in this work dangerous situations are identified by detecting conflicts between intention and expectation, i.e. between what drivers intend(More)