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Lyapunov based driverless vehicle in obstacle free environment

Azid, Sheikh I. and Kumar, Krishneel and Lal, Darrel and Sharma, Bibhya N. (2017) Lyapunov based driverless vehicle in obstacle free environment. [Conference Proceedings]

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Abstract

This paper presents a new technology for designing, simulation, implementation and validation of a driverless vehicle system with the use of the Arduino microcontroller, ultrasonic sensors and stepper motors are integrated to Lyapunov based control scheme. The goal is specifically to develop a driverless vehicle system which is able to move from an initial to target location in an obstacle free environment in 2D workspace while taking the shortest route to the destination. Mathematical modeling for the vehicle has also been done in order to find the dynamics of the vehicle which would be used in the software simulation of the vehicle and subsequently verified through experimental design. The new methodology for the prototype and validation are presented with interesting scenarios. The final design and the methodology to reach the final design, prototyping, testing and verification and validation of the output will be presented.

Item Type: Conference Proceedings
Subjects: Q Science > Q Science (General)
T Technology > T Technology (General)
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Faculty of Science, Technology and Environment (FSTE) > School of Engineering and Physics
Depositing User: Bibhya Sharma
Date Deposited: 30 Aug 2017 16:36
Last Modified: 30 Aug 2017 16:36
URI: http://repository.usp.ac.fj/id/eprint/10076
UNSPECIFIED

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