Design and HIL setup of an autonomous vehicle for crowded environments

S. Yaren Gelbal, Erdinc Altug, E. Faruk Kececi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

Within the last decade, we are witnessing the introduction of intelligent vehicles on our roadways. There is a similar need of intelligent transportation vehicles inside buildings such as airports or shopping malls. These intelligent vehicles can transfer elderly, disabled, or people with heavy luggage. This paper describes an intelligent vehicle that can autonomously transport people in indoor and outdoor areas where pedestrians exist. During operation along pedestrians, detecting them and updating trajectories to avoid collision is not always feasible. In some cases, this leads to a vehicle that is unable to move. In literature, this problem is labeled as the freezing robot problem. This paper proposes an approach to solve this problem by interaction with pedestrians. In order to validate the approach, Simulink simulations and hardware in the loop simulations are performed with different environment scenarios.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1370-1375
Number of pages6
ISBN (Electronic)9781509020652
DOIs
Publication statusPublished - 26 Sept 2016
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: 12 Jul 201615 Jul 2016

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2016-September

Conference

Conference2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Country/TerritoryCanada
CityBanff
Period12/07/1615/07/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

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