By Yaobin Chen and Lingxi Li (Auth.)

ISBN-10: 0123971993

ISBN-13: 9780123971999

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14: Motion Simulation of a UW-Car System Accelerating from its Initial Position. 14. 15. 15 does not have a dynamics canceling block. The effectiveness of the dynamics canceling algorithm is discussed below. The total simulation time is 15 seconds. The simulation begins with all of the variables set to zero as the initial fà condition. During the simulation, the driver requests uh ¼ rw q_ w at time zero. In addition, the gain of state feedback K is calculated with an optimum regulator and takes the following values: !

The testbed architecture, as the middle ground between fully virtual and completely real hardware, consists of several mobile agents, a scale network of roads, and multiple hardware and software modules that emulate various sensory modalities. Details on the proposed architecture itself, and each of its components and application examples, can be found in Ref. [6]. The overall module descriptions are as follows. A number of mobile agents can be deployed on the testbed in parallel. Each mobile agent has a unique identification number and a matching unique visual tag.

3. They obey the traffic light, accelerating and decelerating simultaneously to maintain set inter-vehicle distances and to allow the convoy to clear the intersection as smoothly and rapidly as possible. They also obey the stop sign and intersection precedence rules, determining the presence of a manually driven fourth vehicle using information obtained from its DSRC transmissions. 4 as the initial Stage simulation, shows four vehicles interacting with one another at an intersection. In contrast, Gazebo is a fully three-dimensional simulator with higher fidelity physics corresponding to roll and tilt of simulated vehicles and fully 3D terrain profiles, neither of which are available in Stage.

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Advances in Intelligent Vehicles by Yaobin Chen and Lingxi Li (Auth.)


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