Search results for: path connected.

Authors: P. K. Panigrahi, Saradindu Ghosh, Dayal R. Parhi

Abstract:

Now-a-days autonomous mobile robots have found applications in diverse fields. An autonomous robot system must be able to behave in an intelligent manner to deal with complex and changing environment. This work proposes the performance of path planning and navigation of autonomous mobile robot using Gravitational Search Algorithm (GSA), Simulated Annealing (SA) and Particle Swarm optimization (PSO) based intelligent controllers in an unstructured environment. The approach not only finds a valid collision free path but also optimal one. The main aim of the work is to minimize the length of the path and duration of travel from a starting point to a target while moving in an unknown environment with obstacles without collision. Finally, a comparison is made between the three controllers, it is found that the path length and time duration made by the robot using GSA is better than SA and PSO based controllers for the same work.

Keywords: Autonomous Mobile Robot, Gravitational Search Algorithm, Particle Swarm Optimization, Simulated Annealing Algorithm.

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Authors: Attila Balogh, Eszter Varga, István Varjasi

Abstract:

Nowadays there are several grid connected converter in the grid system. These grid connected converters are generally the converters of renewable energy sources, industrial four quadrant drives and other converters with DC link. These converters are connected to the grid through a three phase bridge. The standards prescribe the maximal harmonic emission which could be easily limited with high switching frequency. The increased switching losses can be reduced to the half with the utilization of the wellknown Flat-top modulation. The suggested control method is the expansion of the Flat-top modulation with which the losses could be also reduced to the half compared to the Flat-top modulation. Comparing to traditional control these requirements can be simultaneously satisfied much better with the DLF (DC Link Floating) method.

Keywords: DC link floating, high efficiency, PV converter, control method.

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Authors: Rong-Jong Wai, Chia-Ming Liu

Abstract:

Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, an adaptive path-planning control scheme is designed without detailed environmental information, large memory size and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations of a differential-driving mobile robot under the possible occurrence of obstacle shapes.

Keywords: Adaptive Path Planning, Mobile Robot ObstacleAvoidance

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Authors: C. I. Abiodun, S. O. Azi, J. S. Ojo, P. Akinyemi

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The design of accurate and reliable mobile communication systems depends majorly on the suitability of path loss prediction methods and the adaptability of the methods to various environments of interest. In this research, the results of the adaptability of radio channel behavior are presented based on practical measurements carried out in the 1800 MHz frequency band. The measurements are carried out in typical urban, suburban and rural environments in Ekiti State, Southwestern part of Nigeria. A total number of seven base stations of MTN GSM service located in the studied environments were monitored. Path loss and break point distances were deduced from the measured received signal strength (RSS) and a practical path loss model is proposed based on the deduced break point distances. The proposed two slope model, regression line and four existing path loss models were compared with the measured path loss values. The standard deviations of each model with respect to the measured path loss were estimated for each base station. The proposed model and regression line exhibited lowest standard deviations followed by the Cost231-Hata model when compared with the Erceg Ericsson and SUI models. Generally, the proposed two-slope model shows closest agreement with the measured values with a mean error values of 2 to 6 dB. These results show that, either the proposed two slope model or Cost 231-Hata model may be used to predict path loss values in mobile micro cell coverage in the well-considered environments. Information from this work will be useful for link design of microwave band wireless access systems in the region.

Keywords: Break-point distances, path loss models, path loss exponent, received signal strength.

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Authors: Sohrab Khanmohammadi, Raana Soltani Zarrin

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In this paper, a heuristic method for simultaneous rescue robot path-planning and mission scheduling is introduced based on project management techniques, multi criteria decision making and artificial potential fields path-planning. Groups of injured people are trapped in a disastrous situation. These people are categorized into several groups based on the severity of their situation. A rescue robot, whose ultimate objective is reaching injured groups and providing preliminary aid for them through a path with minimum risk, has to perform certain tasks on its way towards targets before the arrival of rescue team. A decision value is assigned to each target based on the whole degree of satisfaction of the criteria and duties of the robot toward the target and the importance of rescuing each target based on their category and the number of injured people. The resulted decision value defines the strength of the attractive potential field of each target. Dangerous environmental parameters are defined as obstacles whose risk determines the strength of the repulsive potential field of each obstacle. Moreover, negative and positive energies are assigned to the targets and obstacles, which are variable with respects to the factors involved. The simulation results show that the generated path for two cases studies with certain differences in environmental conditions and other risk factors differ considerably.

Keywords: Artificial potential field, GERT, path planning

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Authors: Si-Gwan Kim

Abstract:

Small-size and low-power sensors with sensing, signal processing and wireless communication capabilities is suitable for the wireless sensor networks. Due to the limited resources and battery constraints, complex routing algorithms used for the ad-hoc networks cannot be employed in sensor networks. In this paper, we propose node-disjoint multi-path hexagon-based routing algorithms in wireless sensor networks. We suggest the details of the algorithm and compare it with other works. Simulation results show that the proposed scheme achieves better performance in terms of efficiency and message delivery ratio.

Keywords: Clustering, multi-path, routing protocol, sensor network.

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Authors: Varun Singh, Mainak Bandyopadhyay, Maharana Pratap Singh

Abstract:

The shortest path (SP) problem concerns with finding the shortest path from a specific origin to a specified destination in a given network while minimizing the total cost associated with the path. This problem has widespread applications. Important applications of the SP problem include vehicle routing in transportation systems particularly in the field of in-vehicle Route Guidance System (RGS) and traffic assignment problem (in transportation planning). Well known applications of evolutionary methods like Genetic Algorithms (GA), Ant Colony Optimization, Particle Swarm Optimization (PSO) have come up to solve complex optimization problems to overcome the shortcomings of existing shortest path analysis methods. It has been reported by various researchers that PSO performs better than other evolutionary optimization algorithms in terms of success rate and solution quality. Further Geographic Information Systems (GIS) have emerged as key information systems for geospatial data analysis and visualization. This research paper is focused towards the application of PSO for solving the shortest path problem between multiple points of interest (POI) based on spatial data of Allahabad City and traffic speed data collected using GPS. Geovisualization of results of analysis is carried out in GIS.

Keywords: GIS, Outliers, PSO, Traffic Data.

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Authors: Trinh Trong Chuong

Abstract:

At present, it is very common to find renewable energy resources, especially wind power, connected to distribution systems. The impact of this wind power on voltage distribution levels has been addressed in the literature. The majority of this works deals with the determination of the maximum active and reactive power that is possible to be connected on a system load bus, until the voltage at that bus reaches the voltage collapse point. It is done by the traditional methods of PV curves reported in many references. Theoretical expression of maximum power limited by voltage stability transfer through a grid is formulated using an exact representation of distribution line with ABCD parameters. The expression is used to plot PV curves at various power factors of a radial system. Limited values of reactive power can be obtained. This paper presents a method to study the relationship between the active power and voltage (PV) at the load bus to identify the voltage stability limit. It is a foundation to build a permitted working operation region in complying with the voltage stability limit at the point of common coupling (PCC) connected wind farm.

Keywords: Wind generator, Voltage stability, grid connected

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Authors: Zuwairie Ibrahim, Yusei Tsuboi, Osamu Ono, Marzuki Khalid

Abstract:

Deoxyribonucleic Acid or DNA computing has emerged as an interdisciplinary field that draws together chemistry, molecular biology, computer science and mathematics. Thus, in this paper, the possibility of DNA-based computing to solve an absolute 1-center problem by molecular manipulations is presented. This is truly the first attempt to solve such a problem by DNA-based computing approach. Since, part of the procedures involve with shortest path computation, research works on DNA computing for shortest path Traveling Salesman Problem, in short, TSP are reviewed. These approaches are studied and only the appropriate one is adapted in designing the computation procedures. This DNA-based computation is designed in such a way that every path is encoded by oligonucleotides and the path-s length is directly proportional to the length of oligonucleotides. Using these properties, gel electrophoresis is performed in order to separate the respective DNA molecules according to their length. One expectation arise from this paper is that it is possible to verify the instance absolute 1-center problem using DNA computing by laboratory experiments.

Keywords: DNA computing, operation research, 1-center problem.

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Authors: Nur Aisyah Jalalludin, Arwindra Rizqiawan, Goro Fujita

Abstract:

In this study, we aim to demonstrate a microgrid system experimental simulation for an easy understanding of a large-scale microgrid system. This model is required for industrial training and learning environments. However, in order to create an exact representation of a microgrid system, the laboratory-scale system must fulfill the requirements of a grid-connected inverter, in which power values are assigned to the system to cope with the intermittent output from renewable energy sources. Aside from that, during fluctuations in load capacity, the grid-connected system must be able to supply power from the utility grid side and microgrid side in a balanced manner. Therefore, droop control is installed in the inverter’s control board to maintain a balanced power sharing in both sides. This power control in a stand-alone condition and droop control in a grid-connected condition must be implemented in order to maintain a stabilized system. Based on the experimental results, power control and droop control can both be applied in the system by comparing the experimental and reference values.

Keywords: Droop control, droop characteristic, grid-connected inverter, microgrid, power control.

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Authors: Seiichi Tamagawa, Takao Kawamura, Toshihiko Sasama, Kazunori Sugahara

Abstract:

Route bus system is one of fundamental transportation device for aged people and students, and has an important role in every province. However, passengers decrease year by year, therefore the authors have developed the system called "Bus-Net" as a web application to sustain the public transport. But there are two problems in Bus-Net. One is the user interface that does not consider the variety of the device, and the other is the path planning system that dose not correspond to the on-demand bus. Then, Bus-Net was improved to be able to utilize the variety of the device, and a new function corresponding to the on-demand bus was developed.

Keywords: Route Bus, Path Planning System, User Interface, Ondemandbus, Reservation system.

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Authors: Hae-Won Seo, Yong-Gu Lee

Abstract:

Recent progress in the next generation of automobile technology is geared towards incorporating information technology into cars. Collectively called smart cars are bringing intelligence to cars that provides comfort, convenience and safety. A branch of smart cars is connected-car system. The key concept in connected-cars is the sharing of driving information among cars through decentralized manner enabling collective intelligence. This paper proposes a foundation of the information model that is necessary to define the driving information for smart-cars. Road conditions are modeled through a unique data structure that unambiguously represent the time variant traffics in the streets. Additionally, the modeled data structure is exemplified in a navigational scenario and usage using UML. Optimal driving route searching is also discussed using the proposed data structure in a dynamically changing road conditions.

Keywords: Connected-car, data modeling, route planning, navigation system.

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Authors: In-Chul Jung, Young S. Kwon

Abstract:

Knowing about the customer behavior in a grocery has been a long-standing issue in the retailing industry. The advent of RFID has made it easier to collect moving data for an individual shopper's behavior. Most of the previous studies used the traditional statistical clustering technique to find the major characteristics of customer behavior, especially shopping path. However, in using the clustering technique, due to various spatial constraints in the store, standard clustering methods are not feasible because moving data such as the shopping path should be adjusted in advance of the analysis, which is time-consuming and causes data distortion. To alleviate this problem, we propose a new approach to spatial pattern clustering based on the longest common subsequence. Experimental results using real data obtained from a grocery confirm the good performance of the proposed method in finding the hot spot, dead spot and major path patterns of customer movements.

Keywords: customer path, shopping behavior, exploratoryanalysis, LCS, RFID

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Authors: A. Rakhmadi, M. S. M. Rahim, A. Bade, H. Haron, I. M. Amin

Abstract:

In this study, a Loop Back Algorithm for component connected labeling for detecting objects in a digital image is presented. The approach is using loop back connected component labeling algorithm that helps the system to distinguish the object detected according to their label. Deferent than whole window scanning technique, this technique reduces the searching time for locating the object by focusing on the suspected object based on certain features defined. In this study, the approach was also implemented for a face detection system. Face detection system is becoming interesting research since there are many devices or systems that require detecting the face for certain purposes. The input can be from still image or videos, therefore the sub process of this system has to be simple, efficient and accurate to give a good result.

Keywords: Image processing, connected components labeling, face detection.

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Authors: A. Razavykia, A. Esmaeilzadeh, S. Iranmanesh

Abstract:

Many orthopedic implants like proximal humerus cases require lower surface roughness and almost immediate/short lead time surgery. Thus, rapid response from the manufacturer is very crucial. Tool path strategy of milling process has a direct influence on the surface roughness and lead time of medical implant. High-speed milling as promised process would improve the machined surface quality, but conventional or super-abrasive grinding still required which imposes some drawbacks such as additional costs and time. Currently, many CAD/CAM software offers some different tool path strategies to milling free form surfaces. Nevertheless, the users must identify how to choose the strategies according to cutting tool geometry, geometry complexity, and their effects on the machined surface. This study investigates the effect of different tool path strategies for milling a proximal humerus head during finishing operation on stainless steel 316L. Experiments have been performed using MAHO MH700 S vertical milling machine and four machining strategies, namely, spiral outward, spiral inward, and radial as well as zig-zag. In all cases, the obtained surfaces were analyzed in terms of roughness and dimension accuracy compared with those obtained by simulation. The findings provide evidence that surface roughness, dimensional accuracy, and machining time have been affected by the considered tool path strategy.

Keywords: CAD/CAM software, milling, orthopedic implants, tool path strategy.

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Authors: T. N. Janakiraman, J. Janet Lourds Rani

Abstract:

In practice, wireless networks has the property that the signal strength attenuates with respect to the distance from the base station, it could be better if the nodes at two hop away are considered for better quality of service. In this paper, we propose a procedure to identify delay preserving substructures for a given wireless ad-hoc network using a new graph operation G 2 – E (G) = G* (Edge difference of square graph of a given graph and the original graph). This operation helps to analyze some induced substructures, which preserve delay in communication among them. This operation G* on a given graph will induce a graph, in which 1- hop neighbors of any node are at 2-hop distance in the original network. In this paper, we also identify some delay preserving substructures in G*, which are (i) set of all nodes, which are mutually at 2-hop distance in G that will form a clique in G*, (ii) set of nodes which forms an odd cycle C2k+1 in G, will form an odd cycle in G* and the set of nodes which form a even cycle C2k in G that will form two disjoint companion cycles ( of same parity odd/even) of length k in G*, (iii) every path of length 2k+1 or 2k in G will induce two disjoint paths of length k in G*, and (iv) set of nodes in G*, which induces a maximal connected sub graph with radius 1 (which identifies a substructure with radius equal 2 and diameter at most 4 in G). The above delay preserving sub structures will behave as good clusters in the original network.

Keywords: Clique, cycles, delay preserving substructures, maximal connected sub graph.

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Authors: Li Chen, ZhouLong Li, Qing-zhen Bi, LiMin Zhu

Abstract:

A new tool path planning method for 5-axis flank milling of a globoidal indexing cam is developed in this paper. The globoidal indexing cam is a practical transmission mechanism due to its high transmission speed, accuracy and dynamic performance. Machining the cam profile is a complex and precise task. The profile surface of the globoidal cam is generated by the conjugate contact motion of the roller. The generated complex profile surface is usually machined by 5-axis point-milling method. The point-milling method is time-consuming compared with flank milling. The tool path for 5-axis flank milling of globoidal cam is developed to improve the cutting efficiency. The flank milling tool path is globally optimized according to the minimum zone criterion, and high accuracy is guaranteed. The computational example and cutting simulation finally validate the developed method.

Keywords: Globoidal cam, flank milling, LSQR, MINIMAX.

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Authors: Amir Reza Saffari Azar Alamdari

Abstract:

In this paper, a model of self-organizing spiking neural networks is introduced and applied to mobile robot environment representation and path planning problem. A network of spike-response-model neurons with a recurrent architecture is used to create robot-s internal representation from surrounding environment. The overall activity of network simulates a self-organizing system with unsupervised learning. A modified A* algorithm is used to find the best path using this internal representation between starting and goal points. This method can be used with good performance for both known and unknown environments.

Keywords: Mobile Robot, Path Planning, Self-organization, Spiking Neural Networks.

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Authors: Fucai Lin

Abstract:

Soft topological spaces are considered as mathematical tools for dealing with uncertainties, and a fuzzy topological space is a special case of the soft topological space. The purpose of this paper is to study soft topological spaces. We introduce some new concepts in soft topological spaces such as soft closed mapping, soft open mappings, soft connected spaces and soft paracompact spaces. We also redefine the concept of soft points such that it is reasonable in soft topological spaces. Moreover, some basic properties of these concepts are explored.

Keywords: soft sets, soft open mappings, soft closed mappings, soft connected spaces, soft paracompact spaces.

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Authors: Abdullah Bajelan, Adel Akbarimajd

Abstract:

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled. The manipulation path is a helix track with constant radius and incline. The method presented in this paper proposes a system which has not the actuator and the active controller. So this system requires a passive mechanical intelligence to convey the object from the status of the source along the specified path to the goal state. This intelligent is created based on utilizing the geometry of the system components. A general set up for the components of the system is considered to satisfy the required conditions. Then after kinematical analysis, detailed dimensions and geometry of the mechanism is obtained. The kinematical results are verified by simulation in ADAMS.

Keywords: Mechanical intelligence, Object manipulation, Passive mechanism, Passive non-prehensile manipulation.

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Authors: M.A.A. Younis, N. A. Rahim, S. Mekhilef

Abstract:

This paper presents the design and analysis of a parallel connected inverter configuration of. The configuration consists of parallel connected three-phase dc/ac inverter. Series resistors added to the inverter output to maintain same current in each inverter of the two parallel inverters, and to reduce the circulating current in the parallel inverters to the minimum. High frequency third harmonic injection PWM (THIPWM) employed to reduce the total harmonic distortion and to make maximum use of the voltage source. DSP was used to generate the THIPWM and the control algorithm for the converter. Selected experimental results have been shown to validate the proposed system.

Keywords: Three-phase inverter, Third harmonic injection PWM, inverters parallel connection.

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Authors: H. Alves, J. T. Assis, M. Geraldes, I. Lima, R. T. Lopes

Abstract:

Microtomographic images and thin section (TS) images were analyzed and compared against some parameters of geological interest such as porosity and its distribution along the samples. The results show that microtomography (CT) analysis, although limited by its resolution, have some interesting information about the distribution of porosity (homogeneous or not) and can also quantify the connected and non-connected pores, i.e., total porosity. TS have no limitations concerning resolution, but are limited by the experimental data available in regards to a few glass sheets for analysis and also can give only information about the connected pores, i.e., effective porosity. Those two methods have their own virtues and flaws but when paired together they are able to complement one another, making for a more reliable and complete analysis.

Keywords: Microtomography, petrographical microscopy, sediments, thin sections.

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Authors: Ralf God, Lothar Kerschgens, Leonardo Goratti, Steven Lemaire

Abstract:

Ubiquitous connectivity is a reality and a basic need for users on ground. Air travel connectivity in the cabin is also becoming increasingly important for passengers during cabin use. Wireless sensor networks that provide information to cabin management systems are being used by airlines to optimize cabin crew workload. In networked cabin systems, communications and digitally transmitted data must be managed by airlines in every direction. Security and privacy, information processing and knowledge management are the current and future requirements for a smart and connected cabin.

Keywords: Smart and connected cabin management, Internet of Things, power management, airline business.

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Authors: Azali Saudi, Jumat Sulaiman

Abstract:

Harmonic functions are solutions to Laplace’s equation that are known to have an advantage as a global approach in providing the potential values for autonomous vehicle navigation. However, the computation for obtaining harmonic functions is often too slow particularly when it involves very large environment. This paper presents a two-stage iterative method namely Modified Arithmetic Mean (MAM) method for solving 2D Laplace’s equation. Once the harmonic functions are obtained, the standard Gradient Descent Search (GDS) is performed for path finding of an autonomous vehicle from arbitrary initial position to the specified goal position. Details of the MAM method are discussed. Several simulations of vehicle navigation with path planning in a static known indoor environment were conducted to verify the efficiency of the MAM method. The generated paths obtained from the simulations are presented. The performance of the MAM method in computing harmonic functions in 2D environment to solve path planning problem for an autonomous vehicle navigation is also provided.

Keywords: Modified Arithmetic Mean method, Harmonic functions, Laplace’s equation, path planning.

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Authors: Penghui Zhang, Hua Zhang, Jun-Bo Wang, Cheng Zeng, Zijian Cao

Abstract:

With the development of software-defined networks and programmable data planes, in-band network telemetry (INT) has become an emerging technology in communications because it can get accurate and real-time network information. However, due to the expansion of the network scale, existing telemetry systems, to the best of the authors’ knowledge, have difficulty in meeting the common requirements of low overhead, low latency and full coverage for traffic measurement. This paper proposes a network-wide telemetry system with a low-latency low-overhead path planning (INT-LLPP). This paper builds a mathematical model to analyze the telemetry overhead and latency of INT systems. Then, we adopt a greedy-based path planning algorithm to reduce the overhead and latency of the network telemetry with the full network coverage. The simulation results show that network-wide telemetry is achieved and the telemetry overhead can be reduced significantly compared with existing INT systems. INT-LLPP can control the system latency to get real-time network information.

Keywords: Network telemetry, network monitoring, path planning, low latency.

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Authors: N.M Abdul Ghani, L.K. Haur, T.P.Yon, F Naim

Abstract:

This project relates to a two-wheeled self balancing robot for transferring loads on different locations along a path. This robot specifically functions as a dual mode navigation to navigate efficiently along a desired path. First, as a plurality of distance sensors mounted at both sides of the body for collecting information on tilt angle of the body and second, as a plurality of speed sensors mounted at the bottom of the body for collecting information of the velocity of the body in relative to the ground. A microcontroller for processing information collected from the sensors and configured to set the path and to balance the body automatically while a processor operatively coupled to the microcontroller and configured to compute change of the tilt and velocity of the body. A direct current motor operatively coupled to the microcontroller for controlling the wheels and characterized in that a remote control is operatively coupled to the microcontroller to operate the robot in dual navigation modes.

Keywords: Two-Wheeled Balancing Robot, Dual Mode Navigation, Remote Control, Desired Path.

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Authors: Alexander B. Bichkov, Alla A. Mityureva, Valery V. Smirnov

Abstract:

In present work are considered the scheme of evaluation the transition probability in quantum system. It is based on path integral representation of transition probability amplitude and its evaluation by means of a saddle point method, applied to the part of integration variables. The whole integration process is reduced to initial value problem solutions of Hamilton equations with a random initial phase point. The scheme is related to the semiclassical initial value representation approaches using great number of trajectories. In contrast to them from total set of generated phase paths only one path for each initial coordinate value is selected in Monte Karlo process.

Keywords: Path integral, saddle point method, semiclassical approximation, transition probability

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Authors: Menglong Su, Shaoyun Shi, Qing Xu

Abstract:

In this paper, by introducing twice continuously differentiable mappings, we develop an interior path following following method, which enables us to give a constructive proof of the general Brouwer fixed point theorem and thus to solve fixed point problems in a class of non-convex sets. Under suitable conditions, a smooth path can be proven to exist. This can lead to an implementable globally convergent algorithm. Several numerical examples are given to illustrate the results of this paper.

Keywords: interior path following method, general Brouwer fixed point theorem, non-convex sets, globally convergent algorithm

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Authors: Jihye Jeon

Abstract:

This paper analyzes the conceptual framework of three statistical methods, multiple regression, path analysis, and structural equation models. When establishing research model of the statistical modeling of complex social phenomenon, it is important to know the strengths and limitations of three statistical models. This study explored the character, strength, and limitation of each modeling and suggested some strategies for accurate explaining or predicting the causal relationships among variables. Especially, on the studying of depression or mental health, the common mistakes of research modeling were discussed.

Keywords: Multiple regression, path analysis, structural equation models, statistical modeling, social and psychological phenomenon.

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Authors: M. Y. Misro, A. Ramli, J. M. Ali

Abstract:

Bezier curves have useful properties for path generation problem, for instance, it can generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bezier curve segment smoothly to generate the path. Some of the useful properties of Bezier are curvature. In mathematics, curvature is the amount by which a geometric object deviates from being flat, or straight in the case of a line. Another extrinsic example of curvature is a circle, where the curvature is equal to the reciprocal of its radius at any point on the circle. The smaller the radius, the higher the curvature thus the vehicle needs to bend sharply. In this study, we use Bezier curve to fit highway-like curve. We use different approach to find the best approximation for the curve so that it will resembles highway-like curve. We compute curvature value by analytical differentiation of the Bezier Curve. We will then compute the maximum speed for driving using the curvature information obtained. Our research works on some assumptions; first, the Bezier curve estimates the real shape of the curve which can be verified visually. Even though, fitting process of Bezier curve does not interpolate exactly on the curve of interest, we believe that the estimation of speed are acceptable. We verified our result with the manual calculation of the curvature from the map.

Keywords: Speed estimation, path constraints, reference trajectory, Bezier curve.

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