NDLI: Development of navigation system for autonomous vehicle

Content Provider	IEEE Xplore Digital Library
Author	Sivaraj, D. Kandaswamy, A. Vetrivel, S.
Copyright Year	2012
Description	Author affiliation: Department of ECE, PSG College of Technology, Coimbatore, India (Sivaraj, D.; Vetrivel, S.) \|\| Department of BME, PSG College of Technology, Coimbatore, India (Kandaswamy, A.)
Abstract	Autonomous vehicle is an auto piloted vehicle which includes automatic steering, driving and communication with the environment. A novel algorithm with two level cascaded Kalman filter and PID controller is proposed for steer control. Filtering and calculation of the lateral error using Kalman filter is the first level. PID control algorithm uses the filtered value and calculates the required steer to reduce the lateral error towards zero. The experimental results show that the combination of Kalman Filter with PID for lateral control reduces trajectory error to a minimum over the entire course of the track. The closed loop algorithm for dc motor helps in modifying the speed depending on the nature of the track. The obstacle sensor measures the distance between preceding moving vehicle and helps to maintain the safe distance. The wireless RF module enables the vehicle to communicate with the neighboring vehicle as well as with infrastructure, which helps the auto-piloted vehicle to get the traffic situations and environmental conditions for better path planning and platooning. Combination of the proposed steer control, speed control, obstacle detection and communication algorithms helps the auto-piloted vehicles to navigate the track with better tracking accuracy and completes the test bed track in optimum speed with shortest time.
Starting Page	161
Ending Page	164
File Size	578868
Page Count	4
File Format	PDF
ISBN	9781467323192
e-ISBN	9781467323222
DOI	10.1109/MVIP.2012.6428785
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-14
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Roads Advanced Vehicle Control System Kalman filter Lateral and Longitudinal control Control systems DC motors Vehicle Communication PID control Kalman filters Mobile robots Vehicles
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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