Autonomous electric vehicle: Steering and path-following control systems

Author

Silva, Marco ; Garrote, Luís ; Moita, Fernando ; Martins, Mauro ; Nunes, Urbano

Author_Institution

Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal

fYear

2012

fDate

25-28 March 2012

Firstpage

442

Lastpage

445

Abstract

This paper describes the ISRobotCar, an experimental autonomous electric vehicle that integrates Robot Operating System (ROS) and several sensors such as IBEO laserscanner, Inertial Measurement Unit (IMU), RTK-GPS, vision cameras, and magnet detectors for magnetic guidance. The development of a power steering controller and of a fuzzy path-following controller are particularly addressed. Finally simulations and experimental results of autonomous path-following control are presented.

Keywords

Global Positioning System; automobiles; control engineering computing; electric vehicles; fuzzy control; mobile robots; operating systems (computers); path planning; robot vision; steering systems; IBEO laserscanner; ISRobotCar; RTK-GPS; autonomous path-following control; experimental autonomous electric vehicle; fuzzy path-following controller; inertial measurement unit; magnet detector; magnetic guidance; path-following control system; power steering controller; robot operating system; sensor; steering system; vision camera; Control systems; Global Positioning System; Manganese; Tin; Traction motors; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrotechnical Conference (MELECON), 2012 16th IEEE Mediterranean

Conference_Location

Yasmine Hammamet

ISSN

2158-8473

Print_ISBN

978-1-4673-0782-6

Type

conf

DOI

10.1109/MELCON.2012.6196468

Filename

6196468