E3S Web Conf.
Volume 166, 2020The International Conference on Sustainable Futures: Environmental, Technological, Social and Economic Matters (ICSF 2020)
|Number of page(s)||6|
|Published online||22 April 2020|
Autonomous navigation system with small four-wheel drive platform
Zhytomyr Polytechnic State University, Department of Automation and Computer-Integrated Technologies, Zhytomyr, Ukraine
* Corresponding author: email@example.com
The task of achieving greater flexibility and maneuverability of small transport and service units’ motion in modern factories by developing small autonomous navigation systems plays crucial role in complex automation of transport logistics nowadays. To solve navigation task, it was proposed the following approach, where as a means of assessing the environment was used computer vision system based on 5-megapixel CMOS image sensor and for the front obstacle detection was used auxiliary ultrasonic sensor as a limit switch. Authors solved the problem of yawing using artificial marking approach as along two-colored leading lines. For maneuverability increase during the turn was used speed movement control based on lines perspective. The basic design and technical characteristics of the four-wheel drive platform and the algorithm of the Raspberry PI 3/Arduino Nano hybrid control system are presented. Experimental results proved the viability of the proposed approach.
© The Authors, published by EDP Sciences, 2020
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.