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12 results on '"Rahman, Shammi"'

1. An Improved Pure Pursuit Algorithm for the Automated Steering Control of Road Vehicles

Author

Rahman, Shammi, Gordon, Timothy, Gao, Yangyan, Henderson, Leon, Laine, Leo, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Ivanov, Vitalii, Series Editor, Haddar, Mohamed, Series Editor, Cavas-Martínez, Francisco, Editorial Board Member, di Mare, Francesca, Editorial Board Member, Kwon, Young W., Editorial Board Member, Tolio, Tullio A. M., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Schmitt, Robert, Editorial Board Member, Xu, Jinyang, Editorial Board Member, Huang, Wei, editor, and Ahmadian, Mehdi, editor

Published
2024
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2. Model-Free Automated Reversing of Articulated Heavy Goods Vehicles

Author

Rahman, Shammi, Gordon, Timothy, Henderson, Leon, Gao, Yangyan, Coleman, Sonya, Kerr, Dermot, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Ivanov, Vitalii, Series Editor, Haddar, Mohamed, Series Editor, Cavas-Martínez, Francisco, Editorial Board Member, di Mare, Francesca, Editorial Board Member, Kwon, Young W., Editorial Board Member, Tolio, Tullio A. M., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Schmitt, Robert, Editorial Board Member, Xu, Jinyang, Editorial Board Member, Mastinu, Giampiero, editor, Braghin, Francesco, editor, Cheli, Federico, editor, Corno, Matteo, editor, and Savaresi, Sergio M., editor

Published
2024
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3. Lateral Control of a Trackless Road Tram ‘ART’ Using Multi-axle Steering

Author

Liu, Qingwei, Gordon, Timothy, Zhou, Sheng, Rahman, Shammi, Jin, Peng, Liu, Xiaocong, Xiao, Lei, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Ivanov, Vitalii, Series Editor, Cavas-Martínez, Francisco, Editorial Board Member, di Mare, Francesca, Editorial Board Member, Haddar, Mohamed, Editorial Board Member, Kwon, Young W., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Orlova, Anna, editor, and Cole, David, editor

Published
2022
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4. Improved Lateral Performance of a Long Combination Vehicle Based on Artificial Flow Guidance

Author

Rahman, Shammi, Gordon, Timothy, Liu, Qingwei, Gao, Yangyan, Henderson, Leon, Laine, Leo, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Ivanov, Vitalii, Series Editor, Cavas-Martínez, Francisco, Editorial Board Member, di Mare, Francesca, Editorial Board Member, Haddar, Mohamed, Editorial Board Member, Kwon, Young W., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Orlova, Anna, editor, and Cole, David, editor

Published
2022
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5. A Novel Lateral Control Approach for Path Tracking of Automated Vehicles Based on Flow Guidance

Author

Liu, Qingwei, Gordon, Timothy, Rahman, Shammi, Yu, Fan, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, S. Shmaliy, Yuriy, editor, and Abdelnaby Zekry, Abdelhalim, editor

Published
2022
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7. Model-free autonomous control of four-wheel steering using artificial flow guidance.

Author

Liu, Qingwei, Gordon, Timothy, and Rahman, Shammi

Subjects
GEOMETRICAL constructions, VECTOR fields, RELATIVE motion, REAL-time computing, AUTONOMOUS vehicles, VEHICLE models, AXLES
Abstract

Four-wheel steering (4WS) is an effective technique to improve handling performance and lateral stability of road vehicles. Conventionally, controllers utilise the driver's actions and vehicle dynamics to coordinate front and rear-axle steering. This paper proposes a novel approach for 4WS controller design, based on the concept of Artificial Flow Guidance (AFG), which relies on a spatially distributed motion reference through a two-dimensional vector field. This field provides high-level guidance while lower-level steering controllers to control axle centres motions relative to the flow. These flow vectors, computed in real-time via simple geometric construction, can be pre-computed globally to evaluate the guidance algorithm's efficacy. When controlling only the front axle, this same approach can function as an autonomous driving system. Relying solely on a spatial reference field and control targets' velocities enables the controller to work in a simple and robust fashion, without using a reference vehicle dynamics model or lengthy parameter tuning. The proposed approach's effectiveness is validated through co-simulation with MATLAB/Simulink and the CarMaker simulation platform. AFG control performance is found to be at least comparable to that of more complex 4WS controllers using methods such as MPC; in the cases considered, AFG provides superior path-tracking performance. [ABSTRACT FROM AUTHOR]

Published
2024
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8. Artificial Flow Guidance Method for Combined Off-Tracking and Stability Improvement for Automated Articulated Vehicles.

Author

Rahman, Shammi, Gordon, Timothy, Qingwei Liu, Yangyan Gao, Henderson, Leon, and Laine, Leo

Subjects
*ARTICULATED vehicles, *AUTONOMOUS vehicles, *FREIGHT & freightage, *AUTOMOTIVE transportation, *LANE changing, *AXLES
Abstract

This paper considers an integrated control method combining autonomous driving and active steering. By using artificial flow guidance (AFG), the steering at all five axles on a tractor-semitrailer are synchronized for precise low-speed path tracking and improved lateral stability. AFG is a motion planning method which uses velocity vectors to guide the motion of the vehicle; here, two modification on AFG are proposed to form the integrated-AFG which improves the transient performance and generalizes the choice of the tracking points. Simulations rendered in TruckMaker show submillimeter level steady-state off-tracking for a broad speed range, with maximum deviation being 1 cm for a high-speed lane change; amplification of trailer lateral motion is also suppressed, with rearward amplification (RWA) < 1 maintained throughout. This control method is robust to changes in key parameters such as trailer mass and road friction coefficient. The methods presented provide a new foundation for implementing automated freight transportation on highways. [ABSTRACT FROM AUTHOR]

Published
2024
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