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Winter, Christoph and Ritzer, Peter and Brembeck, Jonathan (2016) Experimental Investigation of Online Path Planning for Electric Vehicles. In: 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), pp. 1403-1409. IEEE International Conference on Intelligent Transportation Systems, 2016-11-01 - 2016-11-04, Rio de Janeiro, Brasilien. doi: 10.1109/ITSC.2016.7795741.
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Abstract
This paper describes a real-time capable online path planning on roads and its experimental investigation for the highly maneuverable robotic electric vehicle research platform ROboMObil. The path planning algorithm is based on an efficiently solvable and compact optimization problem and contributes to the autonomous driving of centralized controlled vehicles. The necessary development from a global offline problem formulation towards an online receding horizon method is shown, which is capable of taking environmental changes into account. The online planned path together with a generated velocity profile serves as an input to the ROboMObil’s geometric path following control, allowing for automated driving. Finally, a test drive shows the results of implementing the presented algorithms on this research vehicle and investigates the energy saving capabilities of the proposed path planning methodology.
| Item URL in elib: | https://elib.dlr.de/107619/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
| Title: | Experimental Investigation of Online Path Planning for Electric Vehicles | ||||||||||||||||
| Authors: |
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| Date: | 2016 | ||||||||||||||||
| Journal or Publication Title: | 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) | ||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||
| Open Access: | Yes | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| DOI: | 10.1109/ITSC.2016.7795741 | ||||||||||||||||
| Page Range: | pp. 1403-1409 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Keywords: | Bahnplanung, Optimierung, experimentelle Auswertung | ||||||||||||||||
| Event Title: | IEEE International Conference on Intelligent Transportation Systems | ||||||||||||||||
| Event Location: | Rio de Janeiro, Brasilien | ||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||
| Event Start Date: | 1 November 2016 | ||||||||||||||||
| Event End Date: | 4 November 2016 | ||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
| HGF - Program: | Transport | ||||||||||||||||
| HGF - Program Themes: | Terrestrial Vehicles (old) | ||||||||||||||||
| DLR - Research area: | Transport | ||||||||||||||||
| DLR - Program: | V BF - Bodengebundene Fahrzeuge | ||||||||||||||||
| DLR - Research theme (Project): | V - NGC-Energiemanagement (old) | ||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||
| Institutes and Institutions: | Institute of System Dynamics and Control > Vehicle System Dynamics | ||||||||||||||||
| Deposited By: | Winter, Christoph | ||||||||||||||||
| Deposited On: | 11 Jan 2017 13:56 | ||||||||||||||||
| Last Modified: | 24 Apr 2024 20:12 |
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