Abstract
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.
Highlights
The navigation of autonomous vehicle in urban-building and roads is still a tricky topic in robotics research worldwide, due to many uncertain cases that prevail while navigating on roads.The autonomous vehicle is currently not just used as a transportation medium but can be utilized for performing some road services like road marks painting, grass cutting, and side-road cleaning [1,2,3].A complete navigation algorithm that can consider and deal with all the conditions encountered in the road environment has yet to be thoroughly constructed and developed [4]
This paper focuses on the road roundabout environments navigation, since it needs a further development and consideration as stated in Section 1; the other types of junctions such as
A sensor fusion technique involving the use of laser range finder (LRF), camera, and odometry has been used to determine the robot path starting from a specific entrance to an appropriate exit of the roundabout
Summary
The navigation of autonomous vehicle in urban-building and roads is still a tricky topic in robotics research worldwide, due to many uncertain cases that prevail while navigating on roads. A complete navigation algorithm that can consider and deal with all the conditions encountered in the road environment has yet to be thoroughly constructed and developed [4] One such case is navigation and path determination in the open space area, e.g., in a roundabout and T, Y, and cross junctions. It has been remarked that a limited number of studies have addressed the autonomous navigation of mobile robot in open-space areas of the roads such as cross, roundabout, T, and Y intersections. Another situation for open space area on the roads can be seen when there is a sudden change of the road width along the span of roads [13]. The roundabout intersection typically consists of a circular area in the middle and several inlet/outlet branches on the sides, which enables the vehicles to rotate around until finding the suitable exit branch without a need for traffic light signals, such as in the cross junction, where the vehicle selects its exit branch based on appropriate traffic light signals
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