Proceedings of the 62nd International Conference of Machine Design Departments (ICMD 2022)

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Concept of autonomous vehicle control and data acquisition

Authors
Jaroslav Hlava1, *, Jindřich Cýrus2, Daniel Kajzr1, Jan Kočí2
1Faculty of Mechatronics, Informatics and Interdisciplinary Studies, Technical University of Liberec, 46117, Liberec, Czech Republic
2Institute for Nanomaterials, Advanced Technologies and Innovation, Technical University of Liberec, 46117, Liberec, Czech Republic
*Corresponding author. Email: jaroslav.hlava@tul.cz
Corresponding Author
Jaroslav Hlava
Available Online 22 May 2024.
DOI
10.2991/978-94-6463-423-5_25How to use a DOI?
Keywords
Autonomous vehicles; Object following control; Obstacle avoidance; Ultra-wideband technology
Abstract

A concept of an autonomous electric vehicle with human/object following capability and obstacle avoidance is proposed in this paper. The vehicle considered is a four-wheel vehicle with rear-wheel drive and front-wheel steering. This vehicle uses ultra-wideband technology for human/object detection and position calculation. Unlike computer-vision-based approaches, ultra-wideband technology is insensitive to variations in illumination, does not impose the direct-line-of-sight requirement, and the underlying data processing algorithms are simple. The output from the ultra-wideband system is used by a bidirectional (both forward and reverse motion) human/object following control system based on the classical PID control approach. Since the ultra-wideband object localization works even if there are obstacles between the vehicle and the object to be followed, an obstacle avoidance system is necessary. This requirement is handled in the proposed concept by lidar sensors and integration of the vector field histogram algorithm into the structure of the human/object following control system. The performance of this concept was tested using a small-scale (mass ca 70 kg) experimental autonomous vehicle with encouraging results.

Copyright
© 2024 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the 62nd International Conference of Machine Design Departments (ICMD 2022)
Series
Atlantis Highlights in Engineering
Publication Date
22 May 2024
ISBN
10.2991/978-94-6463-423-5_25
ISSN
2589-4943
DOI
10.2991/978-94-6463-423-5_25How to use a DOI?
Copyright
© 2024 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Jaroslav Hlava
AU  - Jindřich Cýrus
AU  - Daniel Kajzr
AU  - Jan Kočí
PY  - 2024
DA  - 2024/05/22
TI  - Concept of autonomous vehicle control and data acquisition
BT  - Proceedings of the 62nd International Conference of Machine Design Departments (ICMD 2022)
PB  - Atlantis Press
SP  - 226
EP  - 235
SN  - 2589-4943
UR  - https://doi.org/10.2991/978-94-6463-423-5_25
DO  - 10.2991/978-94-6463-423-5_25
ID  - Hlava2024
ER  -