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Design and development of a novel autonomous scaled multiwheeled vehicle

Published online by Cambridge University Press:  21 September 2021

Aaron Hao Tan ,
Michael Peiris ,
Moustafa El-Gindy  and
Haoxiang Lang Open the ORCID record for Haoxiang Lang [Opens in a new window]
Aaron Hao Tan
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
Michael Peiris
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
Moustafa El-Gindy
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
Haoxiang Lang*
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
*
*Corresponding Author:haoxiang.lang@ontariotechu.ca
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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.

Keywords

Multiwheeled vehicledesignautonomous navigationvisual servoingpath planning
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1475 - 1500
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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