Tangent Direction

14,000,000 Leading Edge Experts on the ideXlab platform

Scan Science and Technology

Contact Leading Edge Experts & Companies

Scan Science and Technology

Contact Leading Edge Experts & Companies

The Experts below are selected from a list of 5256 Experts worldwide ranked by ideXlab platform

Florent Balacheff - One of the best experts on this subject based on the ideXlab platform.

  • sur la systole de la sphere au voisinage de la metrique standard
    Geometriae Dedicata, 2007
    Co-Authors: Florent Balacheff
    Abstract:

    We study the systolic area (defined as the ratio of the area over the square of the systole) of the 2-sphere endowed with a smooth Riemannian metric as a function of this metric. This function, bounded from below by a positive constant over the space of metrics, admits the standard metric g0 as a critical point, although it does not achieve the conjectured global minimum: we show that for each Tangent Direction to the space of metrics at g0, there exists a variation by metrics corresponding to this Direction along which the systolic area can only increase.

  • On the systole of the sphere in the proximity of the standard metric)
    2006
    Co-Authors: Florent Balacheff
    Abstract:

    We study the systolic area (defined as the ratio of the area over the square of the systole) of the 2-sphere endowed with a smooth Riemannian metric as a func- tion of this metric. This function, bounded from below by a positive constant over the space of metrics, admits the standard metric g0 as a critical point, although it does not achieve the conjectured global minimum: we show that for each Tangent Direction to the space of metrics at g0, there exists a variation by metrics corresponding to this Direction along which the systolic area can only increase.

  • Sur la systole de la sphère au voisinage de la métrique standard (On the systole of the sphere in the proximity of the standard metric)
    2006
    Co-Authors: Florent Balacheff
    Abstract:

    We study the systolic area (defined as the ratio of the area over the square of the systole) of the 2-sphere endowed with a smooth Riemannian metric as a function of this metric. This function, bounded from below by a positive constant over the space of metrics, admits the standard metric g0 as a critical point, although it does not achieve the conjectured global minimum: we show that for each Tangent Direction to the space of metrics at g0, there exists a variation by metrics corresponding to this Direction along which the systolic area can only increase.

  • Sur la systole de la sphère au voisinage de la métrique standard
    Geometriae Dedicata, 2006
    Co-Authors: Florent Balacheff
    Abstract:

    We study the systolic area (defined as the ratio of the area over the square of the systole) of the $2$-sphere endowed with a smooth riemannian metric as a function of this metric. This function, bounded from below by a positive constant over the space of metrics, have the standard metric $g_0$ for critic point, although this one do not achieve the conjectured global minimum : we show that for each Tangent Direction to the space of metrics at $g_0$, there exists a variation by metrics corresponding to this Direction along which the systolic area can only increase

Nan Chen - One of the best experts on this subject based on the ideXlab platform.

  • should the desired vehicle heading in path following of autonomous vehicles be the Tangent Direction of the desired path
    Advances in Computing and Communications, 2015
    Co-Authors: Rongrong Wang, Fengjun Yan, Mohammed Chadli, Nan Chen
    Abstract:

    The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the Tangent Direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle cannot equal to zero when vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading Direction, which renders the path following objective realized more accurately. In the controller design phase, backstepping is used to generate the required yaw rate, which has a form of the P controller, then an LQR controller is adopted to obtain the optimal active front steering (AFS) input. The Carsim-Simulink joint simulation verifies the reasonability of the amendment to the heading error.

  • Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?
    IEEE Transactions on Intelligent Transportation Systems, 2015
    Co-Authors: Chuan Hu, Rongrong Wang, Fengjun Yan, Nan Chen
    Abstract:

    The path-following problem for autonomous vehicles is investigated in this paper. The desired vehicle heading is commonly chosen as the Tangent Direction on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path-following performance, particularly when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading, which realizes a more accurate path-following maneuver. In the controller design phase, backstepping is used to generate the required yaw rate, and an LQR controller is adopted to obtain the optimal active front steering input. The CarSim-Simulink joint simulation verifies the reasonability of the amendment to the desired heading.

  • ACC - Should the desired vehicle heading in path following of autonomous vehicles be the Tangent Direction of the desired path
    2015 American Control Conference (ACC), 2015
    Co-Authors: Rongrong Wang, Fengjun Yan, Mohammed Chadli, Nan Chen
    Abstract:

    The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the Tangent Direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle cannot equal to zero when vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading Direction, which renders the path following objective realized more accurately. In the controller design phase, backstepping is used to generate the required yaw rate, which has a form of the P controller, then an LQR controller is adopted to obtain the optimal active front steering (AFS) input. The Carsim-Simulink joint simulation verifies the reasonability of the amendment to the heading error.

Rongrong Wang - One of the best experts on this subject based on the ideXlab platform.

  • should the desired vehicle heading in path following of autonomous vehicles be the Tangent Direction of the desired path
    Advances in Computing and Communications, 2015
    Co-Authors: Rongrong Wang, Fengjun Yan, Mohammed Chadli, Nan Chen
    Abstract:

    The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the Tangent Direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle cannot equal to zero when vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading Direction, which renders the path following objective realized more accurately. In the controller design phase, backstepping is used to generate the required yaw rate, which has a form of the P controller, then an LQR controller is adopted to obtain the optimal active front steering (AFS) input. The Carsim-Simulink joint simulation verifies the reasonability of the amendment to the heading error.

  • Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?
    IEEE Transactions on Intelligent Transportation Systems, 2015
    Co-Authors: Chuan Hu, Rongrong Wang, Fengjun Yan, Nan Chen
    Abstract:

    The path-following problem for autonomous vehicles is investigated in this paper. The desired vehicle heading is commonly chosen as the Tangent Direction on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path-following performance, particularly when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading, which realizes a more accurate path-following maneuver. In the controller design phase, backstepping is used to generate the required yaw rate, and an LQR controller is adopted to obtain the optimal active front steering input. The CarSim-Simulink joint simulation verifies the reasonability of the amendment to the desired heading.

  • ACC - Should the desired vehicle heading in path following of autonomous vehicles be the Tangent Direction of the desired path
    2015 American Control Conference (ACC), 2015
    Co-Authors: Rongrong Wang, Fengjun Yan, Mohammed Chadli, Nan Chen
    Abstract:

    The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the Tangent Direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle cannot equal to zero when vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading Direction, which renders the path following objective realized more accurately. In the controller design phase, backstepping is used to generate the required yaw rate, which has a form of the P controller, then an LQR controller is adopted to obtain the optimal active front steering (AFS) input. The Carsim-Simulink joint simulation verifies the reasonability of the amendment to the heading error.

Fengjun Yan - One of the best experts on this subject based on the ideXlab platform.

  • should the desired vehicle heading in path following of autonomous vehicles be the Tangent Direction of the desired path
    Advances in Computing and Communications, 2015
    Co-Authors: Rongrong Wang, Fengjun Yan, Mohammed Chadli, Nan Chen
    Abstract:

    The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the Tangent Direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle cannot equal to zero when vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading Direction, which renders the path following objective realized more accurately. In the controller design phase, backstepping is used to generate the required yaw rate, which has a form of the P controller, then an LQR controller is adopted to obtain the optimal active front steering (AFS) input. The Carsim-Simulink joint simulation verifies the reasonability of the amendment to the heading error.

  • Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?
    IEEE Transactions on Intelligent Transportation Systems, 2015
    Co-Authors: Chuan Hu, Rongrong Wang, Fengjun Yan, Nan Chen
    Abstract:

    The path-following problem for autonomous vehicles is investigated in this paper. The desired vehicle heading is commonly chosen as the Tangent Direction on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path-following performance, particularly when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading, which realizes a more accurate path-following maneuver. In the controller design phase, backstepping is used to generate the required yaw rate, and an LQR controller is adopted to obtain the optimal active front steering input. The CarSim-Simulink joint simulation verifies the reasonability of the amendment to the desired heading.

  • ACC - Should the desired vehicle heading in path following of autonomous vehicles be the Tangent Direction of the desired path
    2015 American Control Conference (ACC), 2015
    Co-Authors: Rongrong Wang, Fengjun Yan, Mohammed Chadli, Nan Chen
    Abstract:

    The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the Tangent Direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle cannot equal to zero when vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading Direction, which renders the path following objective realized more accurately. In the controller design phase, backstepping is used to generate the required yaw rate, which has a form of the P controller, then an LQR controller is adopted to obtain the optimal active front steering (AFS) input. The Carsim-Simulink joint simulation verifies the reasonability of the amendment to the heading error.

Chuan Hu - One of the best experts on this subject based on the ideXlab platform.

  • Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?
    IEEE Transactions on Intelligent Transportation Systems, 2015
    Co-Authors: Chuan Hu, Rongrong Wang, Fengjun Yan, Nan Chen
    Abstract:

    The path-following problem for autonomous vehicles is investigated in this paper. The desired vehicle heading is commonly chosen as the Tangent Direction on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path-following performance, particularly when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading, which realizes a more accurate path-following maneuver. In the controller design phase, backstepping is used to generate the required yaw rate, and an LQR controller is adopted to obtain the optimal active front steering input. The CarSim-Simulink joint simulation verifies the reasonability of the amendment to the desired heading.