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Autonomous Road Roundabout Detection and Navigation System for Smart Vehicles and Cities Using Laser Simulator-Fuzzy

Mohammed A H Ali1, Musa Mailah2, Waheb A Jabbar3

  • 1Faculty of Manufacturing Engineering, Universiti Malaysia Pahang (UMP), Pekan 26600, Malaysia.

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Summary
This summary is machine-generated.

This study introduces a real-time system for smart vehicles to detect and navigate roundabouts using laser simulation and fuzzy logic. The wheeled mobile robot (WMR) achieves autonomous navigation and path planning in complex road environments.

Keywords:
Wi-Fi camerafuzzy logiclaser range finderlaser simulatorlocal mapodometrypath panningsensor fusionwheeled mobile robot

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Area of Science:

  • Robotics and Autonomous Systems
  • Intelligent Transportation Systems
  • Computer Vision and Sensor Fusion

Background:

  • Autonomous navigation in complex road environments, such as roundabouts, remains a significant challenge for smart vehicles.
  • Accurate real-time detection and decision-making are crucial for safe and efficient autonomous driving.
  • Existing systems often struggle with the dynamic and unpredictable nature of road intersections.

Purpose of the Study:

  • To develop and present a real-time roundabout detection and navigation system for smart vehicles and cities.
  • To enable autonomous navigation of a wheeled mobile robot (WMR) through road roundabouts.
  • To integrate advanced algorithms and sensor fusion for robust environmental perception and path planning.

Main Methods:

  • Development of a novel Laser Simulator algorithm for detecting entities within a roundabout setting.
  • Integration of the Laser Simulator with a fuzzy logic algorithm for decision-making regarding roundabout existence.
  • Implementation of sensor fusion using a Wi-Fi camera, laser range finder, and odometry for robot localization and path planning.
  • Creation of local 2D maps using sensor data to estimate road parameters like width, curbs, and roundabout center.

Main Results:

  • Successful real-time detection and navigation of roundabouts by a WMR.
  • Accurate estimation of road parameters including width, side curbs, and roundabout center using fused sensor data.
  • Generation and testing of a complete path planning algorithm within locally generated maps.
  • Demonstration of autonomous navigation capabilities in both indoor and outdoor terrains.

Conclusions:

  • The proposed system effectively enables real-time roundabout detection and autonomous navigation for WMRs.
  • Sensor fusion of camera, laser range finder, and odometry provides robust localization and mapping.
  • The integration of Laser Simulator and fuzzy logic offers a reliable approach for decision-making in complex road scenarios.
  • This research contributes to the advancement of intelligent transportation systems and autonomous vehicle technology.