Unmanned Ground Vehicle Otonobil: Design, Perception, and Decision Algorithms
Unmanned ground vehicles (UGV) have been the subject of research in recent years due to their future prospective of solving the traffic congestion and improving the safety on roads while having a more energy-efficient profile. In this chapter, the first U
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Unmanned Ground Vehicle Otonobil: Design, Perception, and Decision Algorithms Volkan Sezer, Pınar Boyraz, Ziya Ercan, C ¸ agri Dikilitas¸, Hasan Heceog˘lu, ¨ ner, Gu¨lay O ¨ ke, and Metin Go¨kas¸an Alper O
Abstract Unmanned ground vehicles (UGV) have been the subject of research in recent years due to their future prospective of solving the traffic congestion and improving the safety on roads while having a more energy-efficient profile. In this chapter, the first UGV of Turkey, Otonobil, will be introduced detailing especially on its hardware and software design architecture, the perception capabilities and decision algorithms used in obstacle avoidance, and autonomous goal-oriented docking. UGV Otonobil features a novel heuristic algorithm to avoid dynamic obstacles, and the vehicle is an open test-rig for studying several intelligent-vehicle technologies such as steer-by-wire, intelligent traction control, and further artificial intelligence algorithms for acting in real-traffic conditions. Keywords Autonomous car • Dynamic obstacle avoidance • Sensor fusion • Unmanned ground vehicle
4.1
Introduction
The unmanned ground vehicle (UGV) Otonobil1 (Fig. 4.1) is essentially an urban concept small electric vehicle (EV) which is mechanically converted to modify the driver–vehicle interfaces for autonomous operation. Hardware conversion process
1 Otonobil is one of the major projects at Mechatronics Research and Education Centre of Istanbul Technical University supported by Turkish Ministry of Development since 2008.
V. Sezer • P. Boyraz (*) • Z. Ercan • C¸. Dikilitas¸ Mechanical Engineering Department, Istanbul Technical University, ˙Ino¨nu¨ Cd. No: 65, Beyog˘lu, Istanbul 34437, Turkey e-mail: [email protected] ¨ ner • G. O ¨ ke (*) • M. Go¨kas¸an H. Heceog˘lu • A. O Control Engineering Department, Istanbul Technical University, Ayazag˘a, Istanbul, Turkey e-mail: [email protected] G. Schmidt et al. (eds.), Smart Mobile In-Vehicle Systems: Next Generation Advancements, DOI 10.1007/978-1-4614-9120-0_4, © Springer Science+Business Media New York 2014
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Fig. 4.1 Unmanned ground vehicle Otonobil at Istanbul Technical University, TR [1]
Fig. 4.2 Automatic steering system for Otonobil [2]
is divided into two main parts as mechanical and electrical modifications. Interface circuit, interface software, additional power system, selection of the sensors, and computer hardware are given in electrical modifications part. The multisensory perception capabilities of the UGV are given in Sect. 4.2, and the decision algorithms representing the artificial intelligence of the car is mentioned in Sect. 4.3. The mechanical modifications on the vehicle are mainly performed on the brake and steering wheel for autonomous operation. Two separate external servo motors with a gear box are used to activate the steering wheel column and brake pedal, each according to the commands sent by the main computer onboard. The modified steering system can be seen in Fig. 4.2. Additional mechanical modifications are in t
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