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Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion

A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a...

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Main Authors: Ali, Mohammed A. H., Mailah, Musa, Jabbar, Waheb A., Moiduddin, Khaja, Ameen, Wadea, Alkhalefah, Hisham
Format: Article
Language:English
Published: MDPI 2020
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://eprints.utm.my/id/eprint/93231/1/MusaMailah2020_AutonomousRoadRoundaboutDetection.pdf
http://eprints.utm.my/id/eprint/93231/
http://dx.doi.org/10.3390/s20133694
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id my.utm.93231
record_format eprints
spelling my.utm.932312021-11-19T03:29:46Z http://eprints.utm.my/id/eprint/93231/ Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion Ali, Mohammed A. H. Mailah, Musa Jabbar, Waheb A. Moiduddin, Khaja Ameen, Wadea Alkhalefah, Hisham TJ Mechanical engineering and machinery A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road’s roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot’s path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time. MDPI 2020-07 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/93231/1/MusaMailah2020_AutonomousRoadRoundaboutDetection.pdf Ali, Mohammed A. H. and Mailah, Musa and Jabbar, Waheb A. and Moiduddin, Khaja and Ameen, Wadea and Alkhalefah, Hisham (2020) Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion. Sensors (Switzerland), 20 (13). pp. 1-28. ISSN 1424-8220 http://dx.doi.org/10.3390/s20133694 DOI:10.3390/s20133694
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Ali, Mohammed A. H.
Mailah, Musa
Jabbar, Waheb A.
Moiduddin, Khaja
Ameen, Wadea
Alkhalefah, Hisham
Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion
description A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road’s roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot’s path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.
format Article
author Ali, Mohammed A. H.
Mailah, Musa
Jabbar, Waheb A.
Moiduddin, Khaja
Ameen, Wadea
Alkhalefah, Hisham
author_facet Ali, Mohammed A. H.
Mailah, Musa
Jabbar, Waheb A.
Moiduddin, Khaja
Ameen, Wadea
Alkhalefah, Hisham
author_sort Ali, Mohammed A. H.
title Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion
title_short Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion
title_full Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion
title_fullStr Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion
title_full_unstemmed Autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion
title_sort autonomous road roundabout detection and navigation system for smart vehicles and cities using laser simulator fuzzy logic algorithms and sensor fusion
publisher MDPI
publishDate 2020
url http://eprints.utm.my/id/eprint/93231/1/MusaMailah2020_AutonomousRoadRoundaboutDetection.pdf
http://eprints.utm.my/id/eprint/93231/
http://dx.doi.org/10.3390/s20133694
_version_ 1717093439189811200
score 13.211869

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