Multi-objective optimal parking maneuver planning of autonomous wheeled vehicles

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dc.contributor.authorChai, Runqi
dc.contributor.authorTsourdos, Antonios
dc.contributor.authorSavvaris, Al
dc.contributor.authorChai, Senchun
dc.contributor.authorXia, Yuanqing
dc.contributor.authorPhilip Chen, C. L.
dc.date.accessioned2020-03-05T11:56:56Z
dc.date.available2020-03-05T11:56:56Z
dc.date.issued2020-01-01
dc.description.abstractThis paper proposes a computational trajectory optimization framework for solving the problem of multi-objective automatic parking motion planning. Constrained automatic parking maneuver problem is usually difficult to solve because of some practical limitations and requirements. This problem becomes more challenging when multiple objectives are required to be optimized simultaneously. The designed approach employs a swarm intelligent algorithm to produce the trade-off front along the objective space. In order to enhance the local search ability of the algorithm, a gradient operation is utilized to update the solution. In addition, since the evolutionary process tends to be sensitive with respect to the flight control parameters, a novel adaptive parameter controller is designed and incorporated in the algorithm framework such that the proposed method can dynamically balance the exploitation and exploration. The performance of using the designed multi-objective strategy is validated and analyzed by performing a number of simulation and experimental studies. The results indicate that the present approach can provide reliable solutions and it can outperform other existing approaches investigated in this paper.en_UK
dc.identifier.citationChai R, Tsourdos A, Savvaris A, et al., (2020) Multi-objective optimal parking maneuver planning of autonomous wheeled vehicles. IEEE Transactions on Industrial Electronics, Volume 67, Issue 12, December 2020, pp. 10809-10821en_UK
dc.identifier.issn0278-0046
dc.identifier.urihttps://doi.org/10.1109/TIE.2019.2962482
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/15232
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectswarm intelligence
dc.subjectfuzzy adaptive strategy
dc.subjectpareto-optimal
dc.subjectAutonomous vehicleen_UK
dc.subjectovertaking trajectoriesen_UK
dc.subjectmulti-objectiveen_UK
dc.subjectirregularly-placeden_UK
dc.titleMulti-objective optimal parking maneuver planning of autonomous wheeled vehiclesen_UK
dc.typeArticleen_UK

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