A novel approach of overtaking maneuvering using modified RG method

Area of Science:

• Robotics and Control Systems
• Autonomous Vehicle Navigation

Background:

• Intelligent and safe overtaking is a critical challenge for autonomous vehicles.
• Existing methods may not fully address driver safety and comfort during maneuvers.

Purpose of the Study:

• To propose and implement a novel overtaking maneuver strategy for autonomous vehicles.
• To enhance trajectory planning and obstacle avoidance using a modified Rendezvous Guidance (RG) algorithm.
• To ensure driver safety and comfort during autonomous overtaking.

Main Methods:

• Development of a modified Rendezvous Guidance (RG) algorithm for trajectory planning and obstacle avoidance.
• Extensive simulations covering various scenarios, including the presence and absence of obstacles.
• Experimental validation using mobile robots to compare simulation and real-world performance.

Main Results:

• The modified RG algorithm demonstrated effectiveness in simulations across diverse scenarios.
• Comparative analysis showed enhanced performance over the conventional RG algorithm.
• Overtaking maneuver period was reduced by 10%, with decreased distance covered.

Conclusions:

• The modified RG algorithm offers an effective and efficient solution for autonomous overtaking.
• Experimental results closely matched simulation outcomes, validating the proposed method.
• The approach enhances safety and comfort while improving maneuver efficiency.