Development of a robotic driver for autonomous vehicle following Online publication date: Fri, 11-Dec-2009
by Nicholas Wong, Christopher Chambers, Karl Stol, Roger Halkyard
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 8, No. 1/2/3/4, 2010
Abstract: This paper presents the development of autonomous control of a passenger vehicle for vehicle following using a robotic driver. The aim is to have a modular and transferable device that can autonomously control a standard passenger car. The robot controls the car in the same way as a human driver, by rotating the steering wheel and pushing the pedals. No permanent modification is required for the host car to be driven by the robotic driver. The robot uses PID controllers for both steering and pedal actuators. Information for motion control is provided by a 6-axis inertial measurement unit with integrated GPS and information about the environment is provided by a laser scanner. The open source Player Project is used as the framework for the controlling software and for simulation of control algorithms. The robotic driver has been tested on a rolling road dynamometer for accelerator and braking response.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Intelligent Systems Technologies and Applications (IJISTA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook