Self-driving cars: A survey Badue, Claudine; Guidolini, Rânik; Carneiro, Raphael Vivacqua ...
Expert systems with applications,
03/2021, Letnik:
165
Journal Article
Recenzirano
We survey research on self-driving cars published in the literature focusing on autonomous cars developed since the DARPA challenges, which are equipped with an autonomy system that can be ...categorized as SAE level 3 or higher. The architecture of the autonomy system of self-driving cars is typically organized into the perception system and the decision-making system. The perception system is generally divided into many subsystems responsible for tasks such as self-driving-car localization, static obstacles mapping, moving obstacles detection and tracking, road mapping, traffic signalization detection and recognition, among others. The decision-making system is commonly partitioned as well into many subsystems responsible for tasks such as route planning, path planning, behavior selection, motion planning, and control. In this survey, we present the typical architecture of the autonomy system of self-driving cars. We also review research on relevant methods for perception and decision making. Furthermore, we present a detailed description of the architecture of the autonomy system of the self-driving car developed at the Universidade Federal do Espírito Santo (UFES), named Intelligent Autonomous Robotics Automobile (IARA). Finally, we list prominent self-driving car research platforms developed by academia and technology companies, and reported in the media.
•Recently developments of autonomous driving from academic and industry point of view.•Breakdown of the main aspects comprising autonomous driving and their evolution.•Autonomous driving architecture review and proposal.
This paper presents a novel approach to real-time obstacle avoidance based on Dynamical Systems (DS) that ensures impenetrability of multiple convex shaped objects. The proposed method can be applied ...to perform obstacle avoidance in Cartesian and Joint spaces and using both autonomous and non-autonomous DS-based controllers. Obstacle avoidance proceeds by modulating the original dynamics of the controller. The modulation is parameterizable and allows to determine a safety margin and to increase the robot’s reactiveness in the face of uncertainty in the localization of the obstacle. The method is validated in simulation on different types of DS including locally and globally asymptotically stable DS, autonomous and non-autonomous DS, limit cycles, and unstable DS. Further, we verify it in several robot experiments on the 7 degrees of freedom Barrett WAM arm.
Obstacle detection plays an important role in unmanned surface vehicles (USVs). The USVs operate in a highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, ...a pier, or a part of a shoreline, which presents a significant challenge to continuous detection from images taken on board. This paper addresses the problem of online detection by constrained, unsupervised segmentation. To this end, a new graphical model is proposed that affords a fast and continuous obstacle image-map estimation from a single video stream captured on board a USV. The model accounts for the semantic structure of marine environment as observed from USV by imposing weak structural constraints. A Markov random field framework is adopted and a highly efficient algorithm for simultaneous optimization of model parameters and segmentation mask estimation is derived. Our approach does not require computationally intensive extraction of texture features and comfortably runs in real time. The algorithm is tested on a new, challenging, dataset for segmentation, and obstacle detection in marine environments, which is the largest annotated dataset of its kind. Results on this dataset show that our model outperforms the related approaches, while requiring a fraction of computational effort.
The World Health Organization (WHO) reported that there are 285 million visuallyimpaired people worldwide. Among these individuals, there are 39 million who are totally blind. There have been several ...systems designed to support visually-impaired people and to improve the quality of their lives. Unfortunately, most of these systems are limited in their capabilities. In this paper, we present a comparative survey of the wearable and portable assistive devices for visuallyimpaired people in order to show the progress in assistive technology for this group of people. Thus, the contribution of this literature survey is to discuss in detail the most significant devices that are presented in the literature to assist this population and highlight the improvements, advantages, disadvantages, and accuracy. Our aim is to address and present most of the issues of these systems to pave the way for other researchers to design devices that ensure safety and independent mobility to visually-impaired people.
Recently, India is at risk due to the exponential rising of COVID-19 infection, which generated a second wave. This infection rise may affect the vaccination program in India, and it can also affect ...vaccine production. In this manuscript, we have discussed the psychosocial and political factors that have driven the current wave of India. We have also tried to depict the psychosocial and political obstacles that are impairing the vaccination program.
Ship collision avoidance is a complex process that is influenced by numerous factors. In this study, we propose a novel method called the Optimal Collision Avoidance Point (OCAP) for unmanned surface ...vehicles (USVs) to determine when to take appropriate actions to avoid collisions. The approach combines a model that accounts for the two degrees of freedom in USV dynamics with a velocity obstacle method for obstacle detection and avoidance. The method calculates the change in the USV's navigation state based on the critical condition of collision avoidance. First, the coordinates of the optimal collision avoidance point in the current ship encounter state are calculated based on the relative velocities and kinematic parameters of the USV and obstacles. Then, the increments of the vessel's linear velocity and heading angle that can reach the optimal collision avoidance point are set as a constraint for dynamic window sampling. Finally, the algorithm evaluates the probabilities of collision hazards for trajectories that satisfy the critical condition and uses the resulting collision avoidance probability value as a criterion for course assessment. The resulting collision avoidance algorithm is optimized for USV maneuverability and is capable of handling multiple moving obstacles in real-time. Experimental results show that the OCAP algorithm has higher and more robust path-finding efficiency than the other two algorithms when the dynamic obstacle density is higher.
•Use panoramic vision to detect and extract more accurately actual multi-obstacles.•Consider length and direction to build model and filter background optical flow.•Filter the optical flow noise ...through K-means algorithm.
he manner in which the obstacles around the automatic navigation agricultural machinery can be detected and identified is of great importance in improving the safety and operation efficiency of agricultural machineries. This study was based on a panoramic camera to rapidly detect the dynamic obstacles around the moving agricultural machinery. It used the Lucas–Kanade optical flow algorithm to detect the moving obstacles in a panoramic image. On the basis of the actual farmland operation, background optical flow dynamic model was established to filter the background optical flow. The noise optical flow was filtered by combining K-means clustering segmentation algorithm and the variances of optical flow direction and of optical flow length within clusters. On the basis of the segmentation clusters, we used an external rectangular box to select foreground moving object. The principal optical flow direction in the segmentation clusters, and the distance between clusters determined whether the same foreground moving object was selected. Subsequently, we placed the corresponding combination processing into use, which can make the box select the complete foreground motion target. By processing 100 frames of the images, result showed that the average time consumption of the proposed method was 0.801 s. The accuracy rate of detecting dynamic agricultural machinery was 88.06%, the accuracy rate of detecting pedestrians was 81.61%, and the overall accuracy rate was 82.93%. Thus, the proposed method could meet the requirements of actual farmland operations and have a good instantaneity and detection results.
In this paper, we present a multi-modal dataset for obstacle detection in agriculture. The dataset comprises approximately 2 h of raw sensor data from a tractor-mounted sensor system in a grass ...mowing scenario in Denmark, October 2016. Sensing modalities include stereo camera, thermal camera, web camera, 360 ∘ camera, LiDAR and radar, while precise localization is available from fused IMU and GNSS. Both static and moving obstacles are present, including humans, mannequin dolls, rocks, barrels, buildings, vehicles and vegetation. All obstacles have ground truth object labels and geographic coordinates.
This paper tackles the distributed leader–follower cooperative control problem for networked heterogeneous unmanned aerial vehicle–unmanned ground vehicle (UAV-UGV) systems in unknown environments ...requiring formation keeping, obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To adopt various formations, we design a novel negative imaginary (NI) switching formation protocol with a directed dynamic topology. To prevent an inter-mobile robot collision, a new method to formulate the virtual propulsive force between robots is employed. To avoid unexpected obstacles, a new obstacle avoidance technique that allows the UGVs' formation to change its shape and the UGVs' roles is developed. To determine each UGV robot's order in obstacle avoidance formation, a quadrotor UAV, controlled by a strictly negative imaginary controller involving good wind resistance characteristics, tracks the center of formation shape to guarantee the maintaining visibility for multi-robot systems on the ground. The proposed control system's efficacy is investigated through a rigorously comparative study with other control techniques, namely, the performance of artificial potential field and an NI obstacle avoidance strategy using the switching formation control method without switching topology. Finally, we also conduct a stability analysis of the closed-loop control system using the NI-systems theory.
تؤكد رؤية مصر للتنمية المستدامة 2030على أن التنمية لا تكون من دون اكتساب المعرفة الرقمية لجميع السكان، ومن ثم يهدف البحث الحالى إلى الكشف عن المعوقات المجتمعية للمعرفة الرقمية فى مصر، ولتحقيق هذا ...الهدف اعتمد البحث على منهج المسح الاجتماعى، وتم استخدام أداة صحيفة الاستبيان وتم تطبيقها على عينة قوامها 202 مفردة تنتمى إلى مستويات اقتصادية اجتماعية تعليمية متنوعة، وتوصلت الدراسة إلى عدد من النتائج أهمها: أن الغالبية العظمى من المبحوثين تستخدم الانترنت، كما أن غالبية العينة معرفتها الرقمية لا تتعدى مشاهدة فيديوهات التسلية والترفيه، بينما جاءت النسب منخفضة بشأن المعرفة والاستخدام الرقمى الطوعي دون الإلزام الحكومى. كما أوضحت النتائج أن افتقاد الأمان الرقمى حيث الخوف من انتهاك الخصوصية، الخوف من استغلال البيانات الشخصية وتفضيل التعامل المباشر، كان سبباً فى المعرفة الرقمية المحدودة، وكشفت النتائج عن قلة البرامج التدريبية، وفيما يتعلق بمتطلبات المعرفة الرقمية أكدت النتائج على ضرورة نشر الوعي بأهمية المعرفة الرقمية بنسبة كبيرة، وعلى أهمية وضع قوانين لحماية البيانات.AbstractEgypt's vision for sustainable development 2030 confirms that development cannot be without the acquisition of digital knowledge for all the population, and then the current research aims to reveal the societal obstacles of digital knowledge in Egypt, and to identify the most important obstacles that stand in front of digital knowledge. Social survey the questionnaire sheet was applied on a sample of 202 individuals belonging to various economic, social and educational levels. The study concluded that the majority of respondents use the Internet, and has digital knowledge that does not exceed watching entertainment and entertainment videos, while the percentages were low regarding voluntary digital knowledge and use without government obligation. The results also showed that the lack of digital security, where the fear of violating privacy, is followed by the fear of exploiting personal data, and the preference for direct interaction. It was a reason for the limited digital knowledge, and the results revealed the lack of training programs and with regard to the requirements of digital knowledge, the results emphasized the need to spread awareness of the importance of digital knowledge by a large percentage, and the importance of developing data protection laws.
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