Mathematical Modelling for Performance Evaluation Using Velocity Control for Semi-autonomous Vehicle

摘要

Freight Urban RoBOTic vehicle (FURBOT) is a semi autonomous vehicle for which it is desired that it could deliver freight autonomously from one destination to another. The vehicle is required to operate in Genova, Italy which in general has steep slopes. Additionally, safety of this vehicle and of the environment is of critical importance for urban autonomous driving thus the need for having a simulation model arises. Furthermore, the vehicle is expected to perform last mile freight delivery in European H2020 project SHOW for which highest autonomy is required. For these purposes, a mathematical model is constructed for autonomous velocity control over gradient varying hilly terrain. Autonomous traction and braking of the vehicle is introduced for catering for gradient varying terrain. The model built for this vehicle will serve as basis for embedding new sensors in future, tracking their performance and overall creating a safe environment for the vehicle to operate.