IR sensing embedded system development for prototype mobile platform for autonomous convoy

摘要

Sensing techniques using varied configurations of infrared (IR) devices are rapidly becoming a proven approach for autonomous vehicles. In this paper, we present an investigation and corresponding results of embedding these sensors in a prototype robotic model and examine its performance. The results support IR sensing as a viable alternative to a RADAR based system for object detection and travel in a forward path direction. Proportional Integral (PI) control is implemented due to its simplicity and effectiveness in Python programming language on the Raspberry Pi microcomputer. In this research, we model the operational characteristics of IR sensors in accordance with the physical principal that the measured distance is inversely proportional to the IR sensor voltage output. This provides a device independent robust sensing methodology as demonstrated in the experimental section of the undertaken research. As a result, the proposed approach is expected to enable major manufacturers and corporations to have fully autonomous passenger cars and trucks on roads in the USA by 2021. [1].