A lateral position sensing system for automated vehicle following |
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Authors: | Alleyne A Williams B DePoorter M |
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Affiliation: | Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL; |
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Abstract: | This paper investigates the use of photoresistive light sensor arrays as a possible lateral position sensing system for a vehicle, or several vehicles, following a lead vehicle under separate control. A brief motivation for the use of such a sensing array is followed by a derivation of an appropriate sensor layout. It is shown that the sensing array has several benefits, including cost, simplicity, redundancy, and near linearity. Experimental results are given for a scaled vehicle following manoeuvre using a simple lateral control strategy. The results show that the sensor array may be attractive for lateral alignment in vehicle-following manoeuvres |
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