Integration Of V2x Information For Manoeuvre Feasibility Check, And Decision Making In Trajectory Planning And Tracking Of Autonomous Mobile Robots

Abstract

The research proposes two fundamental features of an automated overtaking scheme: path prediction and path monitoring. Unfortunately, because of the uncertainty in environment interpretation with the present technology of sensors, several suggested solutions are only useful for low-speed chasing. The use of V2X data is used to examine and evaluate path planning and path monitoring methodologies for automated overtaking devices of automated robotic systems in this research. For the creation of such a collision-free route for a mobile robot, the suggested Rapidly-exploring Randomized Tree (RRT) is employed. The suggested technique involves a viability evaluation of the movement and decision-making based on V2X data, which comprises (i) robotic dynamics and atmospheric restrictions, as well as (ii) a precise understanding of the surroundings and associated impediments. To account for variability in robot dynamics, operator conduct, and devoted short-range communications (DSRC) capabilities, 18,000 overtaking movements – with around 10,000 colliding actions – are modeled in this work. Before the movement starts, the approaching assistant forecasts if a crash will happen and informs the operator. The most of conflicts that cannot be identified are because of the robots being beyond of transmission area also for communication power levels employed in the simulations, according to a qualitative evaluation accompanied by a multivariable evaluation of predicted values.