Experimental Investigation on Implementing Autonomous Bus Control Using Lyapunov Approach

Autonomous vehicle is a system which can maneuver through its surrounding to reach a certain location and orientation. Path following control is one of the most proposed control scheme to achieve this objective. In this paper, the path following control, based on the Lyapunov stability approach, designed specifically for a bus, will be proposed and tested experimentally. The mathematical model of the bus kinematics and controller will be presented. The main concerns of the presentation will be the technical details of the path following control implementation such as the design of the system, the controller and actuator, and also the data communication among all components. The experimental investigation was conducted using a miniature scaled bus with the length and width of the bus is 39 cm and 15.5 cm respectively. For the data communication, MQTT was used for as the protocol. The experimental results show how the autonomous bus followed the desired path satisfactorily.

[1]  Augie Widyotriatmo.  Orienting Head-Truck in the Design of Truck-Trailer Path Following Control , 2018, 2018 18th International Conference on Control, Automation and Systems (ICCAS).

[2]  Vijay John,et al.  A Tutorial On Autonomous Vehicle Steering Controller Design, Simulation and Implementation , 2018, ArXiv.

[3]  Frank L. Lewis,et al.  Control of a nonholonomic mobile robot: backstepping kinematics into dynamics , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[4]  Manuel Armada,et al.  An Experimental Platform for Autonomous Bus Development , 2017 .

[5]  Iman Anvari.  Non-holonomic Differential Drive Mobile Robot Control & Design : Critical Dynamics and Coupling Constraints , 2013 .

[6]  Augie Widyotriatmo,et al.  Line following control of an autonomous truck-trailer , 2017, 2017 International Conference on Robotics, Biomimetics, and Intelligent Computational Systems (Robionetics).

[7]  Tae-Seok Jin,et al.  Path Following Control of Mobile Robot Using Lyapunov Techniques and PID Cntroller , 2011, Int. J. Fuzzy Log. Intell. Syst..