Abstract
This paper deals with the movement, localization and navigation possibilities of Autonomous Robotic Platform (ARP). Such a platform is used for ADAS (Advanced Driver Assistance Systems) testing in automotive. At the beginning, the paper discusses different solutions that are already available worldwide and it outlines ideas for improving the process of this ADAS testing. In the next chapters, ARP that is used as a prototype to test these ideas is introduced mainly from the embedded electronics point of view, since it is the core of this research. The mechanical design of the prototype is explained in a different paper, which is cited in the references section. Then the paper focuses on the key aspects of this research; that is the possibility to achieve an omnidirectional movement to make the testing more variable and to explore different solutions for the localization and navigation of these platforms. Various sensors are compared with the reference position and the results are discussed in the last chapter and in the conclusion. Also, the possibility of multiple platforms synchronisation is proposed.
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Abbreviations
- Δt :
-
time change per one iteration, s
- d :
-
distance, m
- v :
-
velocity, m/s
- a :
-
acceleration, m/s2
- θ :
-
heading, rad
- ω :
-
angular velocity, rad/s
- F:
-
state transition
- G:
-
control
- H:
-
observation matrices
- x:
-
state vector
- z:
-
measurement vector
- P:
-
estimate
- Q:
-
process noise
- R:
-
measurement uncertainties
- K:
-
kalman gain
- k :
-
discrete time index
- lat :
-
in the latitude direction
- long :
-
in the longitude direction
- r :
-
reference value
- m :
-
measured value
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Acknowledgement
This paper was made with the support of the projects SGS-2018-001 (“Research and development of electronic and communication systems in scientific and engineering applications”) and SGS-2021-005 (“Research, deve- lopment and implementation of modern electronic and information systems”) in the Faculty of Electrical Engineering, University of West Bohemia, and further in cooperation with the company Valeo Autoklimatizace k. s. in Prague and its project called Opportunities for Students — Valeo R&D Program.
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Lufinka, O., Kadeřábek, J., Prstek, J. et al. Omnidirectional Autonomous Robotic Platform for Advanced Driver Assistance Systems Testing —Movement, Localization and Navigation Possibilities. Int.J Automot. Technol. 23, 1471–1481 (2022). https://doi.org/10.1007/s12239-022-0128-5
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DOI: https://doi.org/10.1007/s12239-022-0128-5