Abstract
This article presents a collision avoidance system for multiple robots based on the current autonomous car collision avoidance system. The purpose of the system is to improve the current autonomous car collision avoidance system by including data input of other vehicles’ velocity and positioning via vehicle-to-vehicle communication into the current autonomous car collision avoidance system. There are two TurtleBots used in experimental testing. TurtleBot is used as the robot agent while Google Lightweight Communication and Marshalling is used for inter-robot communication. Additionally, Gazebo software is used to run the simulation. There are two types of collision avoidance system algorithm (collision avoidance system without inter-robot communication and collision avoidance system with inter-robot communication) that are developed and tested in two main road crash scenarios, rear end collision scenario and junction crossing intersection collision scenario. Both algorithms are tested and run both in simulation and experiment setup, each with 10 repetitions for Lead TurtleBot sudden stop, Lead TurtleBot decelerate, Lead TurtleBot slower speed, and straight crossing path conditions. Simulation and experimental results data for each algorithm are recorded and tabulated. A comprehensive comparison of performance between the proposed algorithms is analyzed. The results showed that the proposed system is able to prevent collision between vehicles with an acceptable success rate.
Highlights
Integrating computational technology into a vehicle was not uncommon these days
Tesla Autopilot enables the vehicle to be fully self-driven without requiring much human driver input, which means the car will drive by itself by relying on its advanced car sensors such as ultrasonic sensors, radar, and Tesla vision cameras controlled by the central processing unit installed on the vehicle
There are two results obtained in this work which are CASA-1 and CASA-2 being implemented on simulation and real-world experiment
Summary
The massive diffusion of computational embedded systems in the last decade had contributed to the creation of networks called Internet of Things. This technology concept already started to be implemented in the automotive sector. A premier example of this concept was the self-driving car or more commonly known as autonomous car technology, noticeably being developed by world’s largest and leading companies such. Tesla Autopilot managed to integrate its autopilot feature with collision prevention with the aim to improve its autonomous car safety. Other car manufacturers started to develop their own autonomous cars with the collision avoidance system
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
