Bidirectional neural network for trajectory planning: An application to medical emergency vehicle

Huang，Liqun1; Chai，Runqi1; Chen，Kaiyuan2; Chai，Senchun1; Xia，Yuanqing1; Liu，Guo Ping3

2024-07-28

10.1016/j.neucom.2024.127763

Neurocomputing   影响因子和分区

0925-2312

1872-8286

This paper focuses on the autonomous trajectory optimization of in-hospital emergency vehicles, aiming to plan a fast, safe, and comfortable trajectory for real time navigation to reach the emergency room. This has direct and significant practical implications for saving patients’ time and reducing the burden on medical staff. To address it, we propose a novel real-time trajectory planning algorithm and introduce a training framework that contributes to planner's transferability. In the dataset preparation phase, we employ an optimization-based method to solve the in-hospital trajectory planning problem, generating substantial trajectories. In the training phase, we design a neural network-based planner to establish logical connections between states and control commands. To enhance interaction with the vehicle itself, we design a novel network training framework that incorporates a neural network-based vehicle simulator to learn the vehicle's self-information, facilitating training the planner. During the inference phase, our planner can plan a collision-free, time-efficient, and comfortable trajectory. Furthermore, our algorithm demonstrates ease of transferability to different vehicle models. Finally, extensive simulations experiments are conducted to validate the safety, speed, and comfortability of the algorithm's trajectory planning, as well as its excellent transferability.

Medical emergency vehicle Motion control Neural network Real-time planning Trajectory optimization

SCI ; EI

英语

其他

20241916045435

Accidents ; Aerodynamics ; Hospitals

Hospitals, Equipment and Supplies:462.2 ; Aerodynamics, General:651.1 ; Accidents and Accident Prevention:914.1

COMPUTER SCIENCE

2-s2.0-85192182701

Scopus

1.School of Automation,Beijing Institute of Technology,Beijing,100081,China
2.The Vanke School of Public Health,Tsinghua University,Beijing,100084,China
3.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,518055,China

Huang，Liqun,Chai，Runqi,Chen，Kaiyuan,et al. Bidirectional neural network for trajectory planning: An application to medical emergency vehicle[J]. Neurocomputing,2024,591.

Huang，Liqun,Chai，Runqi,Chen，Kaiyuan,Chai，Senchun,Xia，Yuanqing,&Liu，Guo Ping.(2024).Bidirectional neural network for trajectory planning: An application to medical emergency vehicle.Neurocomputing,591.

Huang，Liqun,et al."Bidirectional neural network for trajectory planning: An application to medical emergency vehicle".Neurocomputing 591(2024).