Abstract
The major reasons of the road accidents are the traffic problem and human erroneous driving. The researchers have started developing self-driving cars to avoid such accidents. In this paper, bicycle vehicle model along with its inverse vehicle dynamic model have been developed to track the predefined path and replace the driver. A bicycle vehicle model using bond graph (BG) is created to avoid single and two obstacles of known different geometry in predefined path. The obstacle avoidance algorithm is developed in the Matlab environment and this consists of combination of line following, tangent bug and wall following algorithm. The trajectory data from the obstacle avoidance controller is fed to the inverse controller of bicycle vehicle model to run the forward model of bicycle vehicle. For the trajectory tracking of bicycle vehicle model, the system inversion is carried out through the bond graph-based overwhelming controller. The simulation results for trajectory tracking of bicycle model is presented for single and two static obstacles with different orientations and shapes, and finally, conclusions are presented to show that response of the forward model follows the command (actual path decided by the obstacle avoidance controller) within the acceptable limits. All the results and simulations are obtained using Matlab and \({Symbols Shakti}^\circledR \) software (Bond graph software).
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Abbreviations
- a :
-
Distance of front axle from the vehicle cg
- A :
-
Area
- b :
-
Distance of rear axle from vehicle cg
- B :
-
Stiffness factor
- F :
-
Force
- J :
-
Polar moment of inertia
- K :
-
Stiffness
- l :
-
Length
- m :
-
Mass
- M :
-
Moment
- r :
-
Effective radius
- R :
-
Damping
- V :
-
Volume
- x, y, z :
-
Displacements in three directions
- \({\dot{x}},{\dot{y}},{\dot{z}}\) :
-
Velocities in three directions
- \(\ddot{x},\ddot{y},\ddot{z}\) :
-
Accelerations in three directions
- \(\alpha \) :
-
Lateral slip angle
- \(\gamma \) :
-
Camber angle
- \(\delta \) :
-
Steering angle
- \({\dot{\theta }},\ddot{\theta }\) :
-
Angular velocity, acceleration
- \(\tau \) :
-
Torque
- \(\sigma \) :
-
Slip ratio
- \(\mu \) :
-
Coefficient of friction
- \(\mu _\mathrm{m} \) :
-
Motor torque constant
- a:
-
Arm
- b:
-
Braking
- cfr, crr:
-
Front and rear cornering force
- cx, cy, cz x, y, z:
-
Direction of vehicle body
- fr:
-
Front
- m:
-
Motor
- nfr, nrr:
-
Normal for front and rear wheel
- r:
-
Right
- rr:
-
Rear
- stw:
-
Steering wheel
- tfr, trr:
-
Tangential (front and rear)
- v:
-
Vehicle
- w:
-
Wheel
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Singh, R., Bera, T.K. Obstacle Avoidance of Bicycle Vehicle Model using Overwhelming Controller. Arab J Sci Eng 43, 4821–4833 (2018). https://doi.org/10.1007/s13369-018-3175-5
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DOI: https://doi.org/10.1007/s13369-018-3175-5