Experimental Investigation on Implementing Autonomous Bus Control Using Lyapunov Approach
Joshua Friendly Nugroho, Fahmi Rizaldi, Yul Y. Nazaruddin, Augie Widyotriatmo
Institut Teknologi Bandung
Abstract
Autonomous Vehicles is a system which can maneuver through its surrounding to reach a certain location and orientation. Path following control is one of the most proposed control scheme to achieve this objective. In this paper, the path following control, based on the Lyapunov stability approach, designed specifically for a bus, will be proposed and tested experimentally. The mathematical model of the bus kinematics and controller will be presented. The main concerns of the presentation will be the technical details of the path following control implementation such as the design of the system, the controller and actuator and also the data communication among all components. The experimental investigation was conducted using a miniature scaled bus with the length and width of the bus is 39 cm and 15.5 cm respectively. The communication protocol MQTT has been implemented for the data communication. The experimental results show how the bus followed the desired path satisfactorily.
Keywords: Autonomous vehicle, path following control, experimental design, Lyapunov stability
Topic: Control System