Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Development of an educational platform for vehicle-following control demonstration
Submission Author:
André de Souza Mendes , SP
Co-Authors:
André de Souza Mendes, Bianca Mangabeira, Fabrizio Leonardi, Agenor Fleury
Presenter: André de Souza Mendes
doi://10.26678/ABCM.COBEM2019.COB2019-0643
Abstract
This paper presents the development of a testing platform for experimental demonstration of the vehicle-following task in an introductory control course. This platform is composed by one treadmill and up to two vehicles based on the combination of an Arduino board and a steerable scaled chassis. The vehicle is equipped with four DC motors and one step motor responsible for the four wheel drive and steering actuation, respectively. Three ultrasonic sensors monitor the following distance and the lateral displacement of the vehicle. Fundamental concepts of control design are addressed using this modern real-world implementation of vehicle automation to increase students interest and engagement. Topics such as system identification, closed-loop response and disturbance rejection are presented and discussed using the developed platform. An illustrative video of the demonstration is available at https://youtu.be/ss-UzZKDp_4. Arduino source code and additional Matlab scripts can be found at https://github.com/andresmendes/vehicle-prototype.
Keywords
Educational Platform, Control Education, Vehicle-following, Platooning, Arduino
