Autonomous Vehicle Control - Article By: Haim Baruh, Joshua Metersky, Richard Quan, and David Wu

Abstract

An autonomous vehicle is one that is able to operate independently of human control through feedback returned by various sensors. These vehicles are often used to reduce problems, risks and costs that arise from human involvement. The goal of this project is to design and program a convoy in which autonomous vehicles follows a human controlled lead car. In order to develop this system of vehicles, multiple sensors have to be used to keep the convoy together. Standard radio controlled cars are used as the vehicles in the system and were equipped with Arduino microcontrollers, the CMUcam4 camera for color tracking as well as the Parallax Ping))) ultrasonic sensor. Servos are also mounted on the vehicles in order to allow the camera and ping to turn according to the lead car. Using these sensors, the distance between the vehicles is used to determine the motor speed, while the input from the CMUcam4 allows the vehicles to follow the ones ahead when they turn. These sensors continuously return data, allowing for the following cars to adjust to any changes in the system.

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Poster

12-Rutgers-Metersky, Quan, Wu - large.PNG (3.6 MB) Kwabena Agyeman, 09/12/2012 07:38 pm

12-Rutgers-Metersky, Quan, Wu - small.PNG (465.7 kB) Kwabena Agyeman, 09/12/2012 07:38 pm

12-Rutgers-Metersky, Quan, Wu.ppt (11.9 MB) Kwabena Agyeman, 09/12/2012 07:42 pm