Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from Ramp
Navigating an autonomous vehicle through a circular ramp to join a multilane highway having high-density traffic is a very challenging task. Occupant and vehicle safety are the major considerations while establishing merging scenarios. This article proposes and experimentally implements safe and tac...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2022/9917029 |
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| _version_ | 1832549700478173184 |
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| author | Usman Ghumman Kunwar Faraz Hamid Jabbar Mohsin I. Tiwana |
| author_facet | Usman Ghumman Kunwar Faraz Hamid Jabbar Mohsin I. Tiwana |
| author_sort | Usman Ghumman |
| collection | DOAJ |
| description | Navigating an autonomous vehicle through a circular ramp to join a multilane highway having high-density traffic is a very challenging task. Occupant and vehicle safety are the major considerations while establishing merging scenarios. This article proposes and experimentally implements safe and tactical navigational procedures for merging and leaving the highway scenario using the rendezvous guidance (RG) technique and its modified form. Test scenarios have been established for navigating AVs to merge and leave the highway on a multilane highway with or without the presence of any other vehicle in the zone. In addition, the navigation with enhanced performance of the modified RG algorithm is also established and compared to the conventional RG algorithm. The results indicate that time is reduced considerably by using the modified RG technique. The experimental and simulation results are compared, and their results are the same. |
| format | Article |
| id | doaj-art-1337d4a1fe0748eea83d31784befb238 |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-1337d4a1fe0748eea83d31784befb2382025-02-03T06:08:40ZengWileyJournal of Robotics1687-96192022-01-01202210.1155/2022/9917029Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from RampUsman Ghumman0Kunwar Faraz1Hamid Jabbar2Mohsin I. Tiwana3Department of Mechatronics EngineeringDepartment of Mechatronics EngineeringDepartment of Mechatronics EngineeringDepartment of Mechatronics EngineeringNavigating an autonomous vehicle through a circular ramp to join a multilane highway having high-density traffic is a very challenging task. Occupant and vehicle safety are the major considerations while establishing merging scenarios. This article proposes and experimentally implements safe and tactical navigational procedures for merging and leaving the highway scenario using the rendezvous guidance (RG) technique and its modified form. Test scenarios have been established for navigating AVs to merge and leave the highway on a multilane highway with or without the presence of any other vehicle in the zone. In addition, the navigation with enhanced performance of the modified RG algorithm is also established and compared to the conventional RG algorithm. The results indicate that time is reduced considerably by using the modified RG technique. The experimental and simulation results are compared, and their results are the same.http://dx.doi.org/10.1155/2022/9917029 |
| spellingShingle | Usman Ghumman Kunwar Faraz Hamid Jabbar Mohsin I. Tiwana Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from Ramp Journal of Robotics |
| title | Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from Ramp |
| title_full | Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from Ramp |
| title_fullStr | Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from Ramp |
| title_full_unstemmed | Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from Ramp |
| title_short | Unified Navigational Approach for an Autonomous Vehicle Joining a Multilane Highway from Ramp |
| title_sort | unified navigational approach for an autonomous vehicle joining a multilane highway from ramp |
| url | http://dx.doi.org/10.1155/2022/9917029 |
| work_keys_str_mv | AT usmanghumman unifiednavigationalapproachforanautonomousvehiclejoiningamultilanehighwayfromramp AT kunwarfaraz unifiednavigationalapproachforanautonomousvehiclejoiningamultilanehighwayfromramp AT hamidjabbar unifiednavigationalapproachforanautonomousvehiclejoiningamultilanehighwayfromramp AT mohsinitiwana unifiednavigationalapproachforanautonomousvehiclejoiningamultilanehighwayfromramp |