November 16, 2018
Maximum number of car accidents happen due to human error. The number of car crashes and casualties could be reduced by using an automatic control system in cars as an assistant for the driver. Recently the design of an automatic vehicle, which can recognize obstacles and is equipped with cruise and dynamic control, has become one of the most popular research subjects in many universities and institutes. Current thesis is based on developing a complete system of a Laser Radar as an obstacle detector. A detailed description of the laser and additional devices in order to achieve a compact, eye-safe system is presented. Algorithms to control the cruise, the speed of the vehicle and preventing it from skidding are explained and realized by a control system. Using the Modal control, the optimal mode to control the speed of vehicle and angular velocity of the wheels is chosen, after which a system equation is formed and the coefficients are derived. Moreover, the effects of instrumental errors, internal and external disturbances affecting the system are defined. Laser scanning system, modal control system and the behavior of the affected system with different errors and disturbances are simulated. In future, the presented system can be adopted for other moving objects, such as ships, trains or UAVs.
About the Speaker: Dr Maryam Kaveshgar has PhD in Gyroscopes and Navigation systems from National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”. She has 7 published papers and has presented them in conferences. She is the EiC in IEEE ITS Podcast and an active reviewer for IEEE ITS magazine.
Keywords: AU research seminar series