Tompos, Dénes and Németh, Balázs and Hegedűs, Tamás and Vu, V T and Gáspár, Péter (2024) Safe vehicle motion design with learning for moving in environment with uncertainties. IFAC PAPERSONLINE, 58 (4). pp. 228-233. ISSN 2405-8971 10.1016/j.ifacol.2024.07.222

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Abstract

In this paper a motion profile design for unmanned aerial vehicles is proposed which method is able to guarantee safe collision-free motion. The motivations of the work are provided by the uncertainties of covered areas by the vehicles, and also the need of high performance fast vehicle motion. The uncertain information on the environment for detecting Conflict areas is processed through clustering and Mahalanobis-distance-based filtering methods. The resulted Conflict areas are involved in the motion design method, which is facilitated through reinforcement learning. This paper shows the application of the method on a drone that moves together with a mobile robot in the same environment. The safe and high performance motion of the drone is illustrated through simulation example. © 2024 The Authors. This is an open access article under the CC BY-NC-ND license.

Item Type:	Article
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Systems and Control Lab
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	23 Oct 2024 13:40
Last Modified:	23 Oct 2024 13:40
URI:	https://eprints.sztaki.hu/id/eprint/10799

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