Design and development of a novel autonomous scaled multiwheeled vehicle. Issue 5 (21st May 2022)

• Record Type: Journal Article
• Authors: Tan, Aaron Hao; Peiris, Michael; El-Gindy, Moustafa; Lang, Haoxiang
• Is Part Of: Robotica. Volume 40:Issue 5(2022)
• Page Start: 1475
• Page End: 1500
• Publication Date: 2022-05-21
• Subjects: Multiwheeled vehicle -- design -- autonomous navigation -- visual servoing -- path planning; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574721001223
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: This article proposes the design and development of a novel custom-built, autonomous scaled multiwheeled vehicle that features an eight-wheel drive and eight-wheel steer system. In addition to the mechanical and electrical design, high-level path planning and low-level vehicle control algorithms are developed and implemented including a two-stage autonomous parking algorithm is developed. A modified position-based visual servoing algorithm is proposed and developed to achieve precise pose correction. The results show significant gains in accuracy and efficiency comparing with an open-source path planner. It is the aim of this work to expand the research of autonomous platforms taking the form of commercial and off-road vehicles using actuated steering and other mechanisms attributed to passenger vehicles. The outcome of this work is a unique autonomous research platform that features independently driven wheels, steering, autonomous navigation, and parking.