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Path following for autonomous vehicle navigation with inherent safety and dynamics margin
This paper addresses the path following problem for autonomous Ackermann-like vehicle navigation. A control strategy that takes into account both kinodynamic and configuration space constraints of…
Towards Safe Vehicle Navigation in Dynamic Urban Scenarios
This paper describes the deliberative part of a navigation architecture designed for safe vehicle navigation in dynamic urban environments. It comprises two key modules working together in a…
Electromagnetic guided couch and multileaf collimator tracking on a TrueBeam accelerator.
Couch and MLC tracking markedly improved the geometric and dosimetric accuracies of VMAT delivery, however, the two tracking types have different strengths and weaknesses.
A Control Method for Stable and Smooth Path Following of Mobile Robots
This paper addresses the problem of mobile robot navigation in indoor cluttered environments by proposing a new algorithm for both longitudinal and lateral real-time control of wheel-based mobile robots that uses a feedforward component based on path curve characteristics between the robot and the reference point.
Dynamics modeling and parameter identification for autonomous vehicle navigation
- K. Macek, Konrad Friedrich Thoma, Richard Glatzel, R. Siegwart
- EngineeringIEEE/RSJ International Conference on Intelligent…
- 10 December 2007
This paper focuses on development of a dynamic model for an Ackermann-like vehicle based on a static tire-road friction model and laws of technical mechanics, suitable for modeling dynamic vehicle regimes in e.g. overtaking maneuvers/obstacle avoidance and lane-keeping.
An integrated approach to real-time mobile robot control in partially known indoor environments
A motion control method for mobile robots in partially known indoor environments based on integration of focussed D* search algorithm and dynamic window local obstacle avoidance algorithm is presented.
Safe Vehicle Navigation in Dynamic Urban Scenarios
- K. Macek, D. Vasquez, Thierry Fraichard, R. Siegwart
- Computer Science11th International IEEE Conference on Intelligent…
- 1 October 2008
This paper has presented the deliberative part of the navigation architecture for the SmartTer platform, comprising two main component: (a) route planning, which finds a set of configurations between…
Motion Planning for Car-Like Vehicles in Dynamic Urban Scenarios
- K. Macek, M. Becker, R. Siegwart
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 1 October 2006
This paper focuses on development of a motion planning strategy for car-like vehicles in dynamic urban-like scenarios that aims at finding an optimal steering and longitudinal control of the vehicle in minimum time and steering activity sense and verified in a dynamic urban scenario simulation.
Mobile Robot Planning in Dynamic Environments and on Growable Costmaps
A relatively general purpose system and a limited amount of well-defined user-definable heuristics that allow users to adapt the system to a given application are introduced.
An approach to motion planning of indoor mobile robots
- K. Macek, I. Petrović, E. Ivanjko
- EngineeringIEEE International Conference on Industrial…
- 10 December 2003
A simple and efficient procedure to the selection of appropriate motion commands based upon alignment of trajectories generated by the dynamic window module and the global geometric path is proposed.