Design and implementation of a controller for navigating an autonomous ground vehicle

Sahoo, Shubhashisa; Subramanian, Shankar C.; Srivastava, Suresh C.

doi:10.1109/icpces.2012.6508073

Cited by 4 publications

(5 citation statements)

References 13 publications

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“…The solar insolation at different regions of Minneapolis USA for solar robots is tested with the help of satellite [164]. Two robotic systems are applied to design a two axis sun tracking mechanism, one for adjusting the automatic orientation of the PV module and second for providing reference trajectory [165,166]. 6 Discussion and limitations Conventional ICE vehicles consume too much fossil fuel that is 'finite' and 'non-invertible' in nature.…”

Section: Studies Of Solar Powered Autonomous Vehicles/robotsmentioning

confidence: 99%

Integration of solar energy in electrical, hybrid, autonomous vehicles: a technological review

2019

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Conventional energy resources are depleting very fast and to meet the global energy demand, the scarcity of these resources is the most crucial factor in the present era. One of the major contributors to carbon emissions is transportation sector which survives mostly on conventional energy resources. In the Indian context, the transportation sector contributes about 18% of CO 2 emissions of total emissions. To decarbonize this sector, the vehicles utilizing renewable resources such as solar PV technology would be a sustainable step. Solar energy which is abundant in nature and present everywhere can prove to be a great alternative to conventional resources. In the present study, solar PV technology is integrated with electric and hybrid vehicles. Additional literature review of solar electric vehicles including three-wheeled as well as four-wheeled is carried out. Autonomous vehicles and robots utilizing PV technology are also studied and presented. Finally, the foremost barriers and challenges to adopting PV technology in electric and autonomous vehicles are identified and presented.

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Section: Studies Of Solar Powered Autonomous Vehicles/robotsmentioning

confidence: 99%

Integration of solar energy in electrical, hybrid, autonomous vehicles: a technological review

2019

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“…The parameter of a linear vehicle model directly can be measured, but some parameters need to be estimated. There are several methods to estimate the model parameter [22,23]. A method based on Sahoo et al [22] is used to estimate the model parameters with assumption that the vehicle mass is distributed to front and rear of each tire.…”

Section: The Modelling Of Steer By Wire (Sbw) Systemmentioning

confidence: 99%

“…There are several methods to estimate the model parameter [22,23]. A method based on Sahoo et al [22] is used to estimate the model parameters with assumption that the vehicle mass is distributed to front and rear of each tire. The total of vehicle mass ( ) that is based on the front ( ) and rear ( ) tire masses is written as follows:…”

Section: The Modelling Of Steer By Wire (Sbw) Systemmentioning

confidence: 99%

“…while the inertia of vehicle that is approximated by assuming the vehicle as two point masses joined with mass-less road [22] is written as follows:…”

Section: The Modelling Of Steer By Wire (Sbw) Systemmentioning

confidence: 99%

“…The front cornering stiffness and rear cornering stiffness parameters are written in (22) by assuming that the type of radial tire is used and cornering stiffness per degree of slip angle is approximately 16-17% of the load on the tire [22]. Consider…”

Section: The Modelling Of Steer By Wire (Sbw) Systemmentioning

confidence: 99%

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Development of Estimation Force Feedback Torque Control Algorithm for Driver Steering Feel in Vehicle Steer by Wire System: Hardware in the Loop

Fahami

Zamzuri

Mazlan

2015

International Journal of Vehicular Technology

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In conventional steering system, a feedback torque is produced from the contact between tire and road surface and its flows through mechanical column shaft directly to driver. This allows the driver to sense the steering feel during driving. However, in steer by wire (SBW) system, the elimination of the mechanical column shaft requires the system to generate the feedback torque which should produce similar performance with conventional steering system. Therefore, this paper proposes a control algorithm to create the force feedback torque for SBW system. The direct current measurement approach is used to estimate torque at the steering wheel and front axle motor as elements to the feedback torque, while, adding the compensation torque for a realistic feedback torque. The gain scheduling with a linear quadratic regulator controller is used to control the feedback torque and to vary a steering feel gain. To investigate the effectiveness of the proposed algorithm, a real-time hardware in the loop (HIL) methodology is developed using Matlab XPC target toolbox. The results show that the proposed algorithm is able to generate the feedback torque similar to EPS steering system. Furthermore, the compensation torque is able to improve the steering feel and stabilize the system.

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Development of Autonomous Master-and-Slave Vehicles with Cruise Technology

Chen

Lee

et al. 2014

Lecture Notes in Electrical Engineering

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Design and implementation of a controller for navigating an autonomous ground vehicle

Cited by 4 publications

References 13 publications

Integration of solar energy in electrical, hybrid, autonomous vehicles: a technological review

Integration of solar energy in electrical, hybrid, autonomous vehicles: a technological review

Development of Estimation Force Feedback Torque Control Algorithm for Driver Steering Feel in Vehicle Steer by Wire System: Hardware in the Loop

Development of Autonomous Master-and-Slave Vehicles with Cruise Technology

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