Cargando…
Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion
A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a...
Autores principales: | , , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374500/ https://www.ncbi.nlm.nih.gov/pubmed/32630340 http://dx.doi.org/10.3390/s20133694 |
_version_ | 1783561711241920512 |
---|---|
author | Ali, Mohammed A. H. Mailah, Musa Jabbar, Waheb A. Moiduddin, Khaja Ameen, Wadea Alkhalefah, Hisham |
author_facet | Ali, Mohammed A. H. Mailah, Musa Jabbar, Waheb A. Moiduddin, Khaja Ameen, Wadea Alkhalefah, Hisham |
author_sort | Ali, Mohammed A. H. |
collection | PubMed |
description | A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road’s roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot’s path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time. |
format | Online Article Text |
id | pubmed-7374500 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-73745002020-08-05 Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion Ali, Mohammed A. H. Mailah, Musa Jabbar, Waheb A. Moiduddin, Khaja Ameen, Wadea Alkhalefah, Hisham Sensors (Basel) Article A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road’s roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot’s path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time. MDPI 2020-07-01 /pmc/articles/PMC7374500/ /pubmed/32630340 http://dx.doi.org/10.3390/s20133694 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Ali, Mohammed A. H. Mailah, Musa Jabbar, Waheb A. Moiduddin, Khaja Ameen, Wadea Alkhalefah, Hisham Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion |
title | Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion |
title_full | Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion |
title_fullStr | Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion |
title_full_unstemmed | Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion |
title_short | Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator–Fuzzy Logic Algorithms and Sensor Fusion |
title_sort | autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374500/ https://www.ncbi.nlm.nih.gov/pubmed/32630340 http://dx.doi.org/10.3390/s20133694 |
work_keys_str_mv | AT alimohammedah autonomousroadroundaboutdetectionandnavigationsystemforsmartvehiclesandcitiesusinglasersimulatorfuzzylogicalgorithmsandsensorfusion AT mailahmusa autonomousroadroundaboutdetectionandnavigationsystemforsmartvehiclesandcitiesusinglasersimulatorfuzzylogicalgorithmsandsensorfusion AT jabbarwaheba autonomousroadroundaboutdetectionandnavigationsystemforsmartvehiclesandcitiesusinglasersimulatorfuzzylogicalgorithmsandsensorfusion AT moiduddinkhaja autonomousroadroundaboutdetectionandnavigationsystemforsmartvehiclesandcitiesusinglasersimulatorfuzzylogicalgorithmsandsensorfusion AT ameenwadea autonomousroadroundaboutdetectionandnavigationsystemforsmartvehiclesandcitiesusinglasersimulatorfuzzylogicalgorithmsandsensorfusion AT alkhalefahhisham autonomousroadroundaboutdetectionandnavigationsystemforsmartvehiclesandcitiesusinglasersimulatorfuzzylogicalgorithmsandsensorfusion |