Detection of Scenes Features for Path Following on a Local Map of a Mobile Robot Using Neural Networks

Sviatov, Kirill; Miheev, Alexander; Lapshov, Yuriy; Shishkin, Vadim; Sukhov, Sergey

doi:10.1007/978-3-030-65283-8_22

Recent Research in Control Engineering and Decision Making

2020

DOI: 10.1007/978-3-030-65283-8_22

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Detection of Scenes Features for Path Following on a Local Map of a Mobile Robot Using Neural Networks

Kirill Sviatov

Alexander Miheev

Yuriy Lapshov

et al.

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“…To develop the control system, the structural and functional model presented in this article was used. The implementation of modules related to the perception layer is described in articles [31] and [32]. The Decision Making and Motion Planning layer is implemented using a rule-based approach, implemented as a program code in the python language.…”

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Functional Model of a Self-Driving Car Control System

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The article describes a structural and functional model of a self-driving car control system, which generates a wide class of mathematical problems. Currently, control systems for self-driving cars are considered at several levels of abstraction and implementation: Mechanics, electronics, perception, scene recognition, control, security, integration of all subsystems into a solid system. Modern research often considers particular problems to be solved for each of the levels separately. In this paper, a parameterized model of the integration of individual components into a complex control system for a self-driving car is considered. Such a model simplifies the design and development of self-driving control systems with configurable automation tools, taking into account the specifics of the solving problem. The parameterized model can be used for CAD design in the field of self-driving car development. A full cycle of development of a control system for a self-driving truck was implemented, which was rub in the “Robocross 2021” competition. The software solution was tested on more than 40 launches of a self-driving truck. Parameterization made it possible to speed up the development of the control system, expressed in man-hours, by 1.5 times compared to the experience of the authors of the article who participated in the same competition in 2018 and 2019. The proposed parameterization was used in the development of individual CAD elements described in this article. Additionally, the implementation of specific modules and functions is a field for experimental research.

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Functional Model of a Self-Driving Car Control System

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Detection of Scenes Features for Path Following on a Local Map of a Mobile Robot Using Neural Networks

Cited by 1 publication

References 5 publications

Functional Model of a Self-Driving Car Control System

Functional Model of a Self-Driving Car Control System

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