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New players in intelligent transportation: Autonomous Segway in a dynamic environment

Kumar, Sandeep A. and Sharma, Bibhya N. and Vanualailai, Jito and Prasad, Avinesh and Chand, Ravinesh (2023) New players in intelligent transportation: Autonomous Segway in a dynamic environment. New players in intelligent transportation: Autonomous Segway in a dynamic environment, 126 (2023). pp. 1-15. ISSN 0952-1976

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Abstract

This paper heralds a mathematical treatment of Segways as autonomous robots for personal transportation and deliveries and courier services in constrained dynamic environments from a bird’s-eye view. New velocity-based stabilizing controllers of an autonomous nonholonomic two-wheeled self-balancing personalized Segway robot are extracted from a total potential developed by employing the Lyapunov-based Control Scheme (LbCS) for navigation in a partially known environment. Velocity controllers’ cost and time effectiveness and efficiency result from the interaction of the three prominent pillars of LbCS: smoothest, shortest, and safest path for motion planning. Furthermore, the autonomous personal transporter has an obstacle avoidance sensor with a limited detection range ideal for fast navigation in dynamic environments with narrow corridors, tracks, and pathways. This also successfully facilitates navigation in a partially known environment where the sensors only receive and avoid static and dynamic obstacles in a limited range. The results are numerically validated, and the efficacy of the new controllers is exemplified via computer simulations, which illustrate the forward, backward, and zero-turn radius maneuvers of the Segway robot. Introducing the particular autonomous personal transporter would contribute to transportation systems of smart cities.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Divisions: School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User: Nirma Narayan
Date Deposited: 01 Nov 2023 22:34
Last Modified: 01 Nov 2023 22:42
URI: http://repository.usp.ac.fj/id/eprint/14293
UNSPECIFIED

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