Implementation of AVCS using Kalman Filter and PID Controller in Autonomous Self Guided Vehicle

Sivaraj, D.; Kandaswamy, A.; Rajasekar, Vinothprakash; Sankarganesh, P B; Manikandan, G.

doi:10.5120/3278-4460

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…There are various algorithms that can be implemented for an LFR. The most popular ways are traditional binary logic or BLC, FLC and PID algorithms [9]. Each algorithm has its own advantages and disadvantages and it is totally depending on the application and situation of the control system.…”

Section: Manual Navigation Systemmentioning

confidence: 99%

Development of Line Follower Robot with Camera Surveillance System

Saad*,

Ramli,

Marimuthu

et al. 2019

IJRTE

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This study describes the development of a line follower robot for a surveillance camera monitoring system. An effective closed loop control fuzzy logic algorithm is used to constantly correct wrong movements of the mobile robot using a feedback mechanism. The robot senses a black line on a white surface and endeavors itself accordingly to follow the track. A manual navigation system has also been designed to overrule the automatic navigation control of the robot to reposition itself back on the track whenever it strays from the path unintentionally. The fuzzy controller algorithm is an advanced method to ensure the line follower robot moves accurately on the track. It is a replacement control technique of traditional switching method. To fuzzifying the digital input data of four infrared sensor that detecting the line, the data is converted into error and delta error that represent the current and previous position of the robot relative to the line that it follows. There are nine base rules that have been created with two inputs which are error and delta error to the robot direction whether to go to the right, move forward or to the left. Then, for defuzzification, center of sum and centroid of area method have been used to calculate the defuzzied value using trapezium area formulae. Based on the comparison between both control techniques, it is found that the line following surveillance robot with fuzzy logic controller works faster than conventional switching method to complete the same task with the average oscillation length using the fuzzy logic controller is reduced to half.

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Section: Manual Navigation Systemmentioning

confidence: 99%

Development of Line Follower Robot with Camera Surveillance System

Saad*,

Ramli,

Marimuthu

et al. 2019

IJRTE

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“…However, tuning of above mentioned parameters is currently done by handmade procedures consuming a lot of time and cost. Therefore, the manual tuning needs automation, and this study is to ensure vehicle performance associated with the automation process, and its consequences [3].…”

Section: Introductionmentioning

confidence: 99%

Studies on the Auto-Tuning Variables in Auto-Cruise Vehicle

Lee¹,

Lim²,

Cha³

et al. 2016

JCC

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Tuning of the required torque and the shift pattern has been made in cruise driving manually by many engineers in the past. However, manual tuning has the disadvantages of high cost and time consumption for the operator. This paper studies the driving simulation and auto-tuning of the required torque and shift pattern. The target vehicle is a vehicle operated by an engine with the function of speed tracking. First, the power train simulator which was verified by the actual driving, was made in MATLAB. Then, driving simulation was conducted by the powertrain simulator and auto-tuning was also conducted by driving data. Tuning of the required torque means calibration of values of the required acceleration function, and tuning of shift pattern means the calibration of lines of up or downshift. The modified parameters are re-applied to the vehicle which is driven in the virtual environment. This process is repeated until the required performance has been achieved. It is a feedback process to get solutions of the parameters for a given vehicle load. Consequently, engineers can automatically tune parameters instead of manually tuning the parameters, which can satisfy vehicle performance, as well as increase the comfort feel for the driver.

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