- Tytuł:
- An embedded beamformer for a PID-based trajectory sensing for an autonomous vehicle
- Autorzy:
-
Mvemba, P. K.
Lay-Ekuakille, A.
Kidiamboko, S.
Rahman, M. Z. U. - Powiązania:
- https://bibliotekanauki.pl/articles/221802.pdf
- Data publikacji:
- 2018
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
autonomous vehicle
beamforming
trajectory follower
ultrasonic obstacle detector
measurement
sensors - Opis:
- Beamforming is an advanced signal processing technique used in sensor arrays for directional signal transmission or reception. The paper deals with a system based on an ultrasound transmitter and an array of receivers, to determine the distance to an obstacle by measuring the time of flight and - using the phase beamforming technique to process the output signals of receivers for finding the direction from which the reflected signal is received - locates the obstacle. The embedded beam-former interacts with a PID-based line follower robot to improve performance of the line follower navigation algorithm by detecting and avoiding obstacles. The PID (proportional-integral-derivative) algorithm is also typically used to control industrial processes. It calculates the difference between a measured value and a desired set of points, then attempts to minimize the error by adjusting the output. The overall navigation system combines a PID-based trajectory follower with a spatial-temporal filter (beamformer) that uses the output of an array of sensors to extract signals received from an obstacle in a particular direction in order to guide an autonomous vehicle or a robot along a safe path.
- Źródło:
-
Metrology and Measurement Systems; 2018, 25, 3; 561-575
0860-8229 - Pojawia się w:
- Metrology and Measurement Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł