Abstract
This paper lays the foundations of an autonomous control system for an electric ATV type vehicle. The conversion of a classic motor vehicle into an electric one is shortly presented and the main advantages deriving from such a motorization especially in terms of the main impact on the environment in the sense that the noxious substances resulting from a classic thermal motorization are eliminated and the use of the vehicle can be extended for industrial halls too. This electric vehicle has, in addition to the classic proximity sensors, a high-resolution LIDAR type scanning system that allows it to map an enclosure so that the processed data can then be used in the autonomous driving algorithm. The LIDAR type scanning system is also correlated with a location system based on a LoRa communication system to allow a predictive location of the route followed by the autonomous vehicle. It is desired to use the whole complex, especially in some industrial halls and in the current context it is suitable to be used as a disinfection vehicle in order to prevent the personnel health issues in the context of SARS-COV2 epidemics.
Highlights
Autonomous vehicles are a life-saving technology and, if improved, could significantly reduce the number of deaths caused by driver errors while driving on public roads
This paper laid the foundations for the development of an autonomous electric vehicle starting from the conversion of an ATV type vehicle with internal combustion engine
To be able to make a map of the entire test objective and to determine the correct and real-time position of any fixed or mobile obstacles, a hardware and software system consisting of Raspberry Pi, a LiDAR sensor and Robotic Operating System (ROS) programming environment together with some specific libraries have been integrated and used
Summary
Autonomous vehicles are a life-saving technology and, if improved, could significantly reduce the number of deaths caused by driver errors while driving on public roads. An autonomous vehicle is a vehicle that can interact with the environment on its own, by this meaning other vehicles, traffic signs, roads or pedestrians, and drive safely without the driver having to intervene in the entire driving process. Level 4 - high automation: The system can drive the car, monitor the environment, and does not require human intervention At this level, the system is limited in special situations, such as traffic congestion. If several autonomous cars would drive on the same road, the question arises whether their LIDAR sensors will interfere Another limitation is related to the weather. Many papers are currently dealing with the algorithms needed for a vehicle to become autonomous and there are more and more unusual approaches that all have the role of providing reliable algorithms especially for the rest of the traffic participants [7]
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