Title :
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
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;
Conference_Titel :
Electrotechnical Conference (MELECON), 2012 16th IEEE Mediterranean
Conference_Location :
Yasmine Hammamet
Print_ISBN :
978-1-4673-0782-6
DOI :
10.1109/MELCON.2012.6196468
