Design and implementation of an automatic car turning system | Zendy

Ehsan Khalili | Zendy; Jafar Ghaisari | Zendy; Mohammad Danesh | Zendy

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Design and implementation of an automatic car turning system

Author(s) -

Ehsan Khalili,

Jafar Ghaisari,

Mohammad Danesh

Publication year - 2019

Publication title -

journal of control

Language(s) - English

Resource type - Journals

eISSN - 2538-3752

pISSN - 2008-8345

DOI - 10.29252/joc.13.2.33

Subject(s) - nonholonomic system , engineering , controller (irrigation) , mobile robot , automotive engineering , constraint (computer aided design) , mode (computer interface) , automatic control , control engineering , fuzzy control system , car model , robot , fuzzy logic , computer science , artificial intelligence , mechanical engineering , agronomy , biology , operating system

In this paper, a control system is designed for automatic car turning. At first, the necessary information of car turning that were collected from the traffic bylaw, car driving training centers and traffic police are explained. Then, car turning is studied experimentally on several streets with different widths. Afterward, a proper path is designed for the automatic car turning system considering traffic rules and nonholonomic constraint. Also, an appropriate sliding mode controller is designed and a novel fuzzy decision-making system is proposed for the automatic car turning system. A car like mobile robot is designed and manufactured based on small scale parameters of a sedan car. Finally, the automatic car turning system is implemented on this car like mobile robot. Simulation and experimental results of the designed control system confirm the effectiveness of the proposed

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