Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning

Purpose This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments. Design/methodology/approach Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori "topology-geometry" map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot's autonomous navigation and control. Findings A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach. Originality/value The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot's autonomous navigation and control

Impact Evaluation of Cyberattacks on Connected and Automated Vehicles in Mixed Traffic Flow and Its Resilient and Robust Control Strategy

Connected and automated vehicles (CAVs) present significant potential for improving road safety and mitigating traffic congestion for the future mobility system. However, cooperative driving vehicles are more vulnerable to cyberattacks when communicating with each other, which will introduce a new threat to the transportation system. In order to guarantee safety aspects, it is also necessary to ensure a high level of information quality for CAV. To the best of our knowledge, this is the first investigation on the impacts of cyberattacks on CAV in mixed traffic (large vehicles, medium vehicles, and small vehicles) from the perspective of vehicle dynamics. The paper aims to explore the influence of cyberattacks on the evolution of CAV mixed traffic flow and propose a resilient and robust control strategy (RRCS) to alleviate the threat of cyberattacks. First, we propose a CAV mixed traffic car-following model considering cyberattacks based on the Intelligent Driver Model (IDM). Furthermore, a RRCS for cyberattacks is developed by setting the acceleration control switch and its impacts on the mixed traffic flow are explored in different cyberattack types. Finally, sensitivity analyses are conducted in different platoon compositions, vehicle distributions, and cyberattack intensities. The results show that the proposed RRCS of cyberattacks is robust and can resist the negative threats of cyberattacks on the CAV platoon, thereby providing a theoretical basis for restoring the stability and improving the safety of the CAV