EVALUATION OF CONTROL ALGORITHMS ON MOBILE ROBOTS FOR COLLISION AVOIDANCE
Published in ASME 2020 International Mechanical Engineering Congress and Exposition (IMECE2020), 2020
Recommended citation: A Sungra, B Fabien (2020). "EVALUATION OF CONTROL ALGORITHMS ON MOBILE ROBOTS FOR COLLISION AVOIDANCE." ASME 2020 International Mechanical Engineering Congress and Exposition (IMECE2020). https://asme.pinetec.com/imece2020/
In this research, the ego vehicle was maintaining a safe relative distance by varying the velocity to catch up with the lead vehicle. A rotating Laser Distance Sensor (LDS) and an RGB camera were used to detect the objects in the environment. To localize the ego vehicle, a detection clustering algorithm and a Kalman filter was used to estimate the relative distance between the two vehicles. Different controllers such as Proportional, Proportional-Integral, and Model Predictive Control were implemented and validated through experiment on the turtlebot3-burger robot.
Recommended citation: A Sungra, B Fabien (2020). “EVALUATION OF CONTROL ALGORITHMS ON MOBILE ROBOTS FOR COLLISION AVOIDANCE” ASME 2020 International Mechanical Engineering Congress and Exposition (IMECE2020).