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

doi:10.1109/AIM.2018.8452376

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 paper › Conference paper › peer-review

4 Citations (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 language	English
Title of host publication	AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Place of Publication	USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	1015-1020
Number of pages	6
Volume	2018-July
ISBN (Print)	9781538618547
DOIs	https://doi.org/10.1109/AIM.2018.8452376
Publication status	Published - 30 Aug 2018
Event	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand Duration: 9 Jul 2018 → 12 Jul 2018

Conference

Conference	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Country/Territory	New Zealand
City	Auckland
Period	9/07/18 → 12/07/18

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10.1109/AIM.2018.8452376

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). Article 8452376 IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/AIM.2018.8452376

@inproceedings{180ff5dd3bef4051971dd8a25f99db30,

title = "A low-cost hardware-in-the-loop agent-based simulation testbed for autonomous vehicles",

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.",

author = "Ray Barker and Aaron Hurst and Ridge Shrubsall and Hassan, \{Ghulam Mubashar\} and Tim French",

year = "2018",

month = aug,

day = "30",

doi = "10.1109/AIM.2018.8452376",

language = "English",

isbn = "9781538618547",

volume = "2018-July",

pages = "1015--1020",

booktitle = "AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 ; Conference date: 09-07-2018 Through 12-07-2018",

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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 et al.
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 paper › Conference paper › peer-review

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

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