Abstract
Unmanned ground vehicles (UGV) have been the subject of research in recent years due to their future prospective of solving the traffic congestion and improving the safety on roads while having a more energy-efficient profile. In this chapter, the first UGV of Turkey, Otonobil, will be introduced detailing especially on its hardware and software design architecture, the perception capabilities and decision algorithms used in obstacle avoidance, and autonomous goal-oriented docking. UGV Otonobil features a novel heuristic algorithm to avoid dynamic obstacles, and the vehicle is an open test-rig for studying several intelligent-vehicle technologies such as steer-by-wire, intelligent traction control, and further artificial intelligence algorithms for acting in real-traffic conditions.
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Otonobil is one of the major projects at Mechatronics Research and Education Centre of Istanbul Technical University supported by Turkish Ministry of Development since 2008.
References
V. Sezer, C. Dikilitas, Z. Ercan, H. Heceoglu, P. Boyraz, M. Gökaşan, “Hardware and Software Structure of Unmanned Ground Vehicle Otonobil”, 5th biennial workshop on DSP for ın-vehicle systems, Kiel, Germany, 2011
V. Sezer, C. Dikilitas, Z. Ercan, H. Heceoglu, A. Öner, A. Apak, M. Gökasan, A. Mugan, “Conversion of a Conventional Electric Automobile Into an Unmanned Ground Vehicle (UGV) IEEE – international conference on mechatronics, pp. 564–569, Istanbul, Turkey, 13–15 April 2011
Z. Ercan, V. Sezer, C. Dikilitas, H. Heceoglu, P. Boyraz, M. Gökaşan, “Multi-sensor Data Acquision, Processing and Logging using Labview”, 5th biennial workshop on DSP for ın-vehicle systems, Kiel, Germany, 2011
Z. Ercan, V. Sezer, H. Heceoglu, C. Dikilitas, M. Gökasan, A. Mugan, S. Bogosyan, “Multi-sensor data fusion of DCM based orientation estimation for land vehicles” IEEE – international conference on mechatronics, pp. 672–677, Istanbul, Turkey, 13–15 April 2011
V. Sezer, M. Gokasan, A novel obstacle avoidance algorithm: “follow the gap method”. Robot Auton Syst 60(9), 1123–1134 (2012)
Acknowledgement
The researchers in Otonobil project would like to thank Prof. Ata Muğan, Director of Mechatronics Education and Research Center, for his invaluable support and constant encouragement during this project.
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Sezer, V. et al. (2014). Unmanned Ground Vehicle Otonobil: Design, Perception, and Decision Algorithms. In: Schmidt, G., Abut, H., Takeda, K., Hansen, J. (eds) Smart Mobile In-Vehicle Systems. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-9120-0_4
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DOI: https://doi.org/10.1007/978-1-4614-9120-0_4
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