This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and ***,we employ the fifth-orde...
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This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and ***,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road *** coordinates are then transformed to achieve the curvature continuity of the generated *** the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate ***,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and *** simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic ***,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.
One of the most important problems in science is understanding causation. This is particularly challenging when one has access to observational data only and is further compounded in the presence of latent confounders...
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Silicone rubber (SR) micro nanocomposites are prepared by reinforcing the base SR insulating material with two different fillers (micro ATH and nano-alumina), in order to improve the electrical, thermal, and mechanica...
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We demonstrate all-optical on-chip synchronization of opposite polarity Kerr combs in the normal group-velocity dispersion regime. Coherent combining of such combs with different spectral profiles allows us to efficie...
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The electronic metal oxide varistor (eMOV) is the series connection of a traditional MOV and a thyristor with its gate controlled by a breakover diode (BOD). Compared with the traditional solid-state circuit breaker (...
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We demonstrate frequency conversion between 1283 nm and 705 nm using Bragg scattering four-wave mixing in a microresonator, which represents the largest frequency span demonstrated. Our noise measurements suggest it i...
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We demonstrate the generation of a 16-GHz microwave signal via optical frequency division of an optical-parametric oscillator by Kerr-soliton comb, which is optically synchronized. The resulting noise levels represent...
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A semi-analytical finite element method(SAFEM),based on the two-scale asymptotic homogenization method(AHM)and the finite element method(FEM),is implemented to obtain the effective properties of two-phase fiber-reinfo...
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A semi-analytical finite element method(SAFEM),based on the two-scale asymptotic homogenization method(AHM)and the finite element method(FEM),is implemented to obtain the effective properties of two-phase fiber-reinforced composites(FRCs).The fibers are periodically distributed and unidirectionally aligned in a homogeneous *** framework addresses the static linear elastic micropolar problem through partial differential equations,subject to boundary conditions and perfect interface contact *** mathematical formulation of the local problems and the effective coefficients are presented by the *** local problems obtained from the AHM are solved by the FEM,which is denoted as the *** numerical results are provided,and the accuracy of the solutions is analyzed,indicating that the formulas and results obtained with the SAFEM may serve as the reference points for validating the outcomes of experimental and numerical computations.
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