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Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation

Capito Ruiz, Linda J

Abstract Details

2019, Master of Science, Ohio State University, Electrical and Computer Engineering.
This thesis deals with the problem of online motion planning for a vehicle when the available environmental information is limited. It is expected that the car moves within a lane using only the ego information (global x; y; z position and roll, pitch and yaw angles) and the information from a camera mounted in the windshield without previous knowledge of the road (like a map). The images obtained from the camera are used to obtain the optical flow, i.e., the measure of the apparent motion of the environment ahead of the moving vehicle. The continuously changing optical flow allows recognizing some features on the road, which are then used for a road artifi cial potential field computation. That fi eld is used to generate an online reference trajectory (desired orientation) for the vehicle. Then, a gradient tracking control based on sliding mode is used to make the vehicle move along the prescribed trajectory determined by the gradient lines. A regular sliding mode controller is used for the longitudinal tracking of speed. Carla simulator is used for deployment and testing, and some different weathers are tested to evaluate the performance of the proposed approach.
Ümit Özgüner, Ph.D. (Advisor)
Lisa Fiorentini, Ph.D. (Committee Member)
75 p.

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Citations

  • Capito Ruiz, L. J. (2019). Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602

    APA Style (7th edition)

  • Capito Ruiz, Linda. Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation. 2019. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602.

    MLA Style (8th edition)

  • Capito Ruiz, Linda. "Optical Flow-based Artificial Potential Field Generation for Gradient Tracking Sliding Mode Control for Autonomous Vehicle Navigation." Master's thesis, Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555599397128602

    Chicago Manual of Style (17th edition)