This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Navigation Control in an Urban Autonomous Ground Vehicle
Technical Paper
2011-01-1037
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Southwest Research Institute developed an Autonomous Ground Vehicle (AGV) capable of navigating in urban environments. The paper first gives an overview of hardware and software onboard the vehicle. The systems onboard are classified into perception, intelligence, and command and control modules to mimic a human driver. Perception deals with sensing from the world and translating it into situation awareness. This awareness is then fed into intelligence modules. Intelligence modules take inputs from the user to understand the need to navigate from its current location to another destination and, then, generate a path between them on urban, drivable surfaces using its internal urban database. Situational awareness helps intelligence to update the path in real time by avoiding any static/moving obstacles while following traffic rules. Control modules take the path command from intelligence and actuate the accelerator/brake pedal and steering to physically drive the vehicle from point A to point B. Sliding mode algorithms developed for controlling the steering are described. Performance improvement of the vehicle maneuvering curves is quantified relative to conventional PID algorithms.
Recommended Content
Authors
Topic
Citation
Surampudi, B. and Steiber, J., "Navigation Control in an Urban Autonomous Ground Vehicle," SAE Technical Paper 2011-01-1037, 2011, https://doi.org/10.4271/2011-01-1037.Also In
Intelligent Vehicle Initative (IVI) Technology Advanced Controls and Navigation Systems, 2011
Number: SP-2299; Published: 2011-04-12
Number: SP-2299; Published: 2011-04-12
References
- Wang, Junmin Steiber, Joe Surampudi, Bapi “Autonomous Ground Vehicle Control System for High-Speed and Safe Operation” International Journal of Vehicle Autonomous Systems 2008