VINet: Visual and Inertial-based Terrain Classification and Adaptive Navigation over Unknown Terrain

no code implementations • 16 Sep 2022 • Tianrui Guan, Ruitao Song, Zhixian Ye, Liangjun Zhang

We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces.

Classification Scheduling

Autonomous Wheel Loader Trajectory Tracking Control Using LPV-MPC

no code implementations • 16 Mar 2022 • Ruitao Song, Zhixian Ye, Liyang Wang, Tianyi He, Liangjun Zhang

With the nonlinear dynamic model of a wheel loader, nonlinear model predictive control (MPC) is used in offline trajectory planning to obtain a high-performance state-control trajectory while satisfying the state and control constraints.

Computational Efficiency Model Predictive Control +1

Large Scale Autonomous Driving Scenarios Clustering with Self-supervised Feature Extraction

no code implementations • 30 Mar 2021 • Jinxin Zhao, Jin Fang, Zhixian Ye, Liangjun Zhang

The clustering of autonomous driving scenario data can substantially benefit the autonomous driving validation and simulation systems by improving the simulation tests' completeness and fidelity.

Autonomous Driving Clustering +2