Browsing by Subject "ROS"

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Embargo
Development and implementation of a concurrent path following and body motion control system using a scale prototype vehicle
(2024-09) Dağ, Doğa
The automotive industry’s future lies in developing autonomous vehicles, which rely on three fundamental components: perception, planning, and actuation. The actuation component, in particular, requires a robust and reliable control system to ensure the planned trajectory is executed with high fidelity. Furthermore, ad- vancements in active suspension technology, driven by cost reductions, have en- abled the individual adjustment and actuation of suspension components, thereby enhancing passenger comfort. A prototype vehicle is essential to validate these systems experimentally. To balance cost efficiency, ease of use and maintenance, and minimize risks to the en- vironment, a 1/8-scale miniature vehicle was developed. This scaled-down model incorporates all the necessary and existing systems of a full-sized vehicle, like all-wheel drive, four-wheel independent steering, disc brakes, and active suspen- sion, allowing for a wide range of system tests, regardless of their power demands, facilitated by wireless communication via the Robot Operating System (ROS). For control purposes, a Model Predictive Control (MPC) system was designed for path following, while a Linear Quadratic Regulator (LQR) was implemented for body motion control. In simulations, the MPC controller achieved a maxi- mum deviation of 0.3 meters from the planned path, while real-life tests on the prototype vehicle resulted in a deviation of 0.51 meters. During simulations, the active suspension system demonstrated a 48.38% improvement in pitch perfor- mance and a 50.92% improvement in roll performance. Real-world tests showed a 67. 54% improvement in pitch and a 2.44% improvement in roll performance. However, the performance of the MPC controller was adversely affected by system delays, as the controller operated on an external PC during both path-following experiments. This research focuses not only on controller design for vehicles but also tests this system on a scale of real vehicles to assess their performance and ensure that these systems can work on real passenger cars.
Open Access
Kinect based intelligent wheelchair navigation with potential fields
(IEEE, 2014) Özçelikörs, M.; Çoşkun, A.; Say, M. Girayhan; Yazici, A.; Yayan, U.; Akçakoca, M.
Increasing elderly people population and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important role on improving the lives and mobilization of people with disabilities. Moreover, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, Finite state machine (FSM) based high-level controller and Kinect based navigation algorithm have been developed for ATEKS (Intelligent Wheelchair) which has high-tech control mechanisms, low-cost sensors and open source software (ROS, GAZEBO, ANDROID). © 2014 IEEE.