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Velocity Variation Analysis of an Autonomous Vehicle in Narrow Environment

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New Advances in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 57))

Abstract

In this paper is presented an analysis on velocity variation for an autonomous vehicle that is navigating in narrow environment and following a predefined path. The autonomous vehicle is based on an Ackermann steering model that can be simplified to a bicycle dynamic model. For safety navigation along the path the vehicle must taking into account the cinematic and dynamic considerations to avoid lateral slipping and rolling off. In a virtual environment, created with the use of the Virtual Robot Experimentation Platform, was simulated the way in which the Ackermann steering vehicle followed two predefined paths for which the turns have been smoothed by using clothoids as additional curves. The first path consisted in a linear segment, a turn and another linear segment, while the second path consisted in a turn and linear segment. The variation of the velocity was analysed for both scenarios taking into account that in the first one the vehicle accelerates on a straight line, while in the second one it accelerates while steering.

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Acknowledgements

This paper is supported by the Romanian Government, specifically MEN—UEFISCDI authority under the program PNII “Partnerships in priority areas”, under the project number 240⁄2014—NAVIEYES, supporting the collaboration between the company Route 66 and University Transilvania of Brașov.

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Authors and Affiliations

  1. “Transilvania” University of Brasov, Eroilor 29, Brasov, Romania

    T. M. Girbacia & G. L. Mogan

Authors
  1. T. M. Girbacia
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  2. G. L. Mogan
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Corresponding author

Correspondence to G. L. Mogan .

Editor information

Editors and Affiliations

  1. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Ioan Doroftei

  2. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Cezar Oprisan

  3. Mechanical Systems Engineering Department, Machine Building Faculty, Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. Mechatronics Department, Mechanical Engineering Faculty, Politehnica University of Timisoara, Timişoara, Romania

    Erwin Christian Lovasz

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Girbacia, T.M., Mogan, G.L. (2018). Velocity Variation Analysis of an Autonomous Vehicle in Narrow Environment. In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_30

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  • DOI: https://doi.org/10.1007/978-3-319-79111-1_30

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-79110-4

  • Online ISBN: 978-3-319-79111-1

  • eBook Packages: EngineeringEngineering (R0)

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