Path Tracking on Autonomous Vehicle for Severe Maneuvre

Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation

Emerging technologies with disruptive effects: a review

Since the last decade, several technologies have been abruptly influencing our lives. Among the notable major changes in the human society is the way humans interact with each other, which now involves the social media heavily where this is previously unknown to the masses. This type of technology is called Disruptive Innovation, a type of technology which has the potential to alter how human lives, market trends as well as other aspects including transportation and communications. Studies show that in the next few years, there are plenty of technology with the disruptive features. The new technologies, part of the domino effect of previous emerging technologies, include autonomous vehicle, the blockchain as well as Internet-of-Things. Despite the rapid advent, little discussion has been done to discuss and summarizes the emerging technologies in a single work in Malaysia. This brief survey is written as an effort to initiate the discussion, particularly in Malaysia about the disruptive innovation. It gives an introductory idea to the general audience, as well as academician and practitioners about the examples of the innovation, as well as brief discussion about the future studies which need to be commended in relation to the current development. This work is hoped to speed up the implementation of the emerging technologies in Malaysia as well helping and guiding policymakers, practitioners as well as academicians in understanding the phenomenon

A Safe-Distance Based Threat Assessment with Geometrical Based Steering Control for Vehicle Collision Avoidance

This work proposes a vehicle collision avoidance strategy based on the usage of Geometrical Based Steering Controller. The algorithm is composed of these features : 1) Collision Detection strategy using safe distance threshold, 2) predicts the future trajectory of the vehicle in the occurrence of obstacle, 3) decision making prior to avoiding collision, 4) avoiding obstacles while ensuring the vehicle to return to its original path. The strategy used a nonlinear vehicle model with steering and braking input as the actuators that will react and avoid collisions. Simulation results depict the ability of the methods to avoid the potential collision while returning to its original path. The inclusion of the Threat Assessment Strategy ensures the hindrance of the vehicle from colliding with the obstacle's edg

Longitudinal velocity control design with error tolerance strategy for autonomous vehicle

This work serves as the proof of concept of an autonomous vehicle prototype developed by Moovita and Universiti Teknologi Malaysia. For a dependable driverless vehicle maneuver, it requires a stable velocity controller to allow for the desired longitudinal motion navigation. Thus, a multi-level longitudinal velocity control is proposed as part of the motion guidance strategy. The higher level formulates the desired braking and torque actuation relative to the obtained reference generator information, while the lower level aids the vehicle to actuate the actuators. The focus will be on the higher-level velocity control design, where (i) it is expected to yield alternate actuation between braking and gas, and (ii) to prevent the sudden increase in actuation and yield a more-human like behavior. An error tolerance strategy is included in the controller design to achieve this. The controller design is then validated on a varied speed real-time experiment as a proof of concept. Results show the proposed controller is able to provide the desirable navigation for controlled AV navigation in a predefined environment

Feasible, robust and reliable automation and control for autonomous systems

The global market for autonomous robotics platforms has grown rapidly due to the advent of drones, mobile robots, and driverless cars, while the mass media coverage examining the progress of robotics and autonomous systems field is widespread [...

A safe-distance based threat assessment with geometrical based steering control for vehicle collision avoidance

This work proposes a vehicle collision avoidance strategy based on the usage of Geometrical Based Steering Controller. The algorithm is composed of these features: 1) Collision Detection strategy using safe distance threshold, 2) predicts the future trajectory of the vehicle in the occurrence of obstacle, 3) decision making prior to avoiding collision, 4) avoiding obstacles while ensuring the vehicle to return to its original path. The strategy used a nonlinear vehicle model with steering and braking input as the actuators that will react and avoid collisions. Simulation results depict the ability of the methods to avoid the potential collision while returning to its original path. The inclusion of the Threat Assessment Strategy ensures the hindrance of the vehicle from colliding with the obstacles edge

Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation and Control Maneuver

Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs )