A low-cost hardware-in-the-loop agent-based simulation testbed for autonomous vehicles

Ray Barker, Aaron Hurst, Ridge Shrubsall, Ghulam Mubashar Hassan, Tim French

Research output: Chapter in Book/Conference paperConference paper

1 Citation (Scopus)

Abstract

We have developed a flexible and low-cost hardware testbed for autonomous vehicle research and education. The testbed provides the ability to autonomously control multiple small vehicles within a 1200×900 mm environment and is entirely open source with regard to both hardware and software, making it easily reproducible. An agent-based approach is used for vehicle control, meaning that different agent models can be applied to each vehicle as desired for simulation. GPS-like position information is provided to the controller in real-time using a global computer vision system. Using our figure-of-eight test environment, we have demonstrated that our system can support six cars driving smoothly around the track whilst avoiding collisions with each other.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Place of PublicationUSA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1015-1020
Number of pages6
Volume2018-July
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 30 Aug 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period9/07/1812/07/18

Fingerprint

Testbeds
Computer hardware
Costs
Railroad tracks
Computer vision
Global positioning system
Railroad cars
Education
Hardware
Controllers

Cite this

Barker, R., Hurst, A., Shrubsall, R., Hassan, G. M., & French, T. (2018). A low-cost hardware-in-the-loop agent-based simulation testbed for autonomous vehicles. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Vol. 2018-July, pp. 1015-1020). [8452376] USA: IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/AIM.2018.8452376
Barker, Ray ; Hurst, Aaron ; Shrubsall, Ridge ; Hassan, Ghulam Mubashar ; French, Tim. / A low-cost hardware-in-the-loop agent-based simulation testbed for autonomous vehicles. AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July USA : IEEE, Institute of Electrical and Electronics Engineers, 2018. pp. 1015-1020
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Barker, R, Hurst, A, Shrubsall, R, Hassan, GM & French, T 2018, A low-cost hardware-in-the-loop agent-based simulation testbed for autonomous vehicles. in AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. vol. 2018-July, 8452376, IEEE, Institute of Electrical and Electronics Engineers, USA, pp. 1015-1020, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, 9/07/18. https://doi.org/10.1109/AIM.2018.8452376

A low-cost hardware-in-the-loop agent-based simulation testbed for autonomous vehicles. / Barker, Ray; Hurst, Aaron; Shrubsall, Ridge; Hassan, Ghulam Mubashar; French, Tim.

AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July USA : IEEE, Institute of Electrical and Electronics Engineers, 2018. p. 1015-1020 8452376.

Research output: Chapter in Book/Conference paperConference paper

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Barker R, Hurst A, Shrubsall R, Hassan GM, French T. A low-cost hardware-in-the-loop agent-based simulation testbed for autonomous vehicles. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Vol. 2018-July. USA: IEEE, Institute of Electrical and Electronics Engineers. 2018. p. 1015-1020. 8452376 https://doi.org/10.1109/AIM.2018.8452376