Browse Publications Technical Papers 2011-01-1037
2011-04-12

Navigation Control in an Urban Autonomous Ground Vehicle 2011-01-1037

Southwest Research Institute developed an Autonomous Ground Vehicle (AGV) capable of navigating in urban environments. The paper first gives an overview of hardware and software onboard the vehicle. The systems onboard are classified into perception, intelligence, and command and control modules to mimic a human driver. Perception deals with sensing from the world and translating it into situation awareness. This awareness is then fed into intelligence modules. Intelligence modules take inputs from the user to understand the need to navigate from its current location to another destination and, then, generate a path between them on urban, drivable surfaces using its internal urban database. Situational awareness helps intelligence to update the path in real time by avoiding any static/moving obstacles while following traffic rules. Control modules take the path command from intelligence and actuate the accelerator/brake pedal and steering to physically drive the vehicle from point A to point B. Sliding mode algorithms developed for controlling the steering are described. Performance improvement of the vehicle maneuvering curves is quantified relative to conventional PID algorithms.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 16% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
TECHNICAL PAPER

Developing an Autonomous Vehicle Control System for Intersections Using Obstacle/Blind Spot Detection Frames

2016-01-0143

View Details

JOURNAL ARTICLE

Gradient and Mass Estimation from CAN Based Data for a Light Passenger Car

2015-01-0201

View Details

TECHNICAL PAPER

An Active Safety System Able to Counter Aquaplaning, Integrated with Sensorized Tires, ADAS and 5G Technology for both Human-Driven and Autonomous Vehicles

2020-24-0019

View Details

X