Experimental evaluation of perception and actuation architectures for the articulated vehicle automatic control

• Autorzy: Armada M. , Montes H. , Salinas C. , Sarria J.
• Konferencja: Konferencja Naukowo-Techniczna Automatyzacja - Nowości i Perspektywy (14 ; 24-26.03.2010 ; Warszawa, Polska)
• Języki publikacji: EN

Abstrakty

EN

Nowadays, with highly developed instrumentation, sensing and actuation technologies it is possible to foresee an important advance in the field of autonomous and semi-autonomous transportation systems. Among the most promising transport infrastructures the articulated bus is an interesting, low cost and friendly option. In this paper an experimental set-up for research on automatic control of articulated bus is presented. Comprised by a mobile platform (the articulated bus) fully instrumented and a ground test area of asphalt roads inside CSIC premises, this experimental facility allows full testing of automatic driving systems. Paper presents obtained experimental results linked to real time testing of proposed control-perception architectures and a human-machine-interface developed to ease progress in control system evaluation.

Słowa kluczowe

EN

intelligent transport systems; Bus Rapid Transit; autonomous transport systems; vehicle control; perception; human machine interface

• Wydawca: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów PIAP
• Czasopismo: Pomiary Automatyka Robotyka
• Rocznik: 2010
• Tom: R. 14, nr 2
• Strony: 67--72
• Opis fizyczny: CD, Bibliogr. 11 poz., rys., wykr.

Twórcy

autor

Armada M.

autor

Montes H.

autor

Salinas C.

autor

Sarria J.

• Instituto de Automatica Industrial - CSIC, Crta. Campo Real Km 0.2, La Poveda, 28500 Arganda del Rey, Madrid, Spain,

Bibliografia

• [1] R. Fenton, G. Melocik, and K. Olson (1976) On the steering of automated vehicles: Theory and experiment, IEEE Trans. on Automatic Control, vol. 21, no. 3, pp. 306-315.
• [2] S. Shladover, C. Desoer, J. Hedrick, M. Tomizuka, J. Walrand, W. Zhang, D. McMahon, H. Deng, S. Sheikholeslam, and N. McKeown (1991) Automatic vehicle control developments in the path program, IEEE Trans. on Vehicular Technology, vol. 40, no. 1, pp. 114-130.
• [3] W. C. Collier, R. J. Weiland. (1994) Smart cars - smart highways IEEE SPECTRUM, vol. 31, n. 4, pp. 27-33.
• [4] J. Ackermann (1997) Robust control prevents car skidding. IEEE Control Systems Magazine Bode Prize Lecture 1996, pp. 23-31.
• [5] U. Kiencke and A. Daiß (1997) Observation of lateral vehicle dynamics. Control Eng. Practice, Vol. 5, No. 8, pp. 1145-1150.
• [6] J.C. Gerdes and E.J. Rossetter, (1999) A unified approach to driver assistance systems based on artificial potential fields, in Proc. of the 1999 ASME IMECE, Nashville, TN.
• [7] S. Mammar, S. Glaser, M. Netto (2006) Vehicle Lateral Dynamics Estimation using Unknown Input Proportional-Integral Observers. Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA, pp. 14-16.
• [8] P. Falcone, F. Borrelli, J. Asgari, H. Tseng, and D. Hrovat (2007) Predictive Active Steering Control for Autonomous Vehicle Systems. IEEE Trans. Contr. Syst. Tech., vol. 15, no. 3, pp. 566-580.
• [9] H. Montes, C. Salinas, J. Sarria, M. Armada (2009) An experimental platform for research on automatic control of articulated bus, In Proc. of 2009 IARP Workshop on Service Robotics and Nanorobotics, Beijing, China.
• [10] QNX Software System Ltd. 2008. QNX 6.4, http://www.qnx.com.
• [11] The MathWorks. 2009. Matlab.