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Optimization of Vehicular Trajectories under Gaussian Noise Disturbances
Department of Information and Communication Technologies, Technical University of Cartagena (UPCT), Plaza del Hospital, 1, 30202 Cartagena, Spain
* Author to whom correspondence should be addressed.
Received: 7 November 2012; in revised form: 6 December 2012 / Accepted: 19 December 2012 / Published: 27 December 2012
Abstract: Nowadays, research on Vehicular Technology aims at automating every single mechanical element of vehicles, in order to increase passengers’ safety, reduce human driving intervention and provide entertainment services on board. Automatic trajectory tracing for vehicles under especially risky circumstances is a field of research that is currently gaining enormous attention. In this paper, we show some results on how to develop useful policies to execute maneuvers by a vehicle at high speeds with the mathematical optimization of some already established mobility conditions of the car. We also study how the presence of Gaussian noise on measurement sensors while maneuvering can disturb motion and affect the final trajectories. Different performance criteria for the optimization of such maneuvers are presented, and an analysis is shown on how path deviations can be minimized by using trajectory smoothing techniques like the Kalman Filter. We finalize the paper with a discussion on how communications can be used to implement these schemes.
Keywords: vehicle safety; optimum control; optimum maneuvering
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Tomas-Gabarron, J.-B.; Egea-Lopez, E.; Garcia-Haro, J. Optimization of Vehicular Trajectories under Gaussian Noise Disturbances. Future Internet 2013, 5, 1-20.
Tomas-Gabarron J-B, Egea-Lopez E, Garcia-Haro J. Optimization of Vehicular Trajectories under Gaussian Noise Disturbances. Future Internet. 2013; 5(1):1-20.
Tomas-Gabarron, Juan-Bautista; Egea-Lopez, Esteban; Garcia-Haro, Joan. 2013. "Optimization of Vehicular Trajectories under Gaussian Noise Disturbances." Future Internet 5, no. 1: 1-20.