Speed Control and Spacing Control for Autonomous Mobile Robot Platform Equipped with Infrared Sensors

Abstract

The real-time control of nonlinear systems is an important topic nowadays. This paper presents a solution for longitudinal Control of autonomous mobile robot which is coordinated between the cruise control (CC) system and adaptive cruise control (ACC) system. The primary objective of autonomous mobile robots achieves a constant speed demanded by the driver for operating the CC mode ( i.e, speed control) or to keep a safe distance from the mobile robot ahead for operating the ACC mode ( i.e, spacing control) based on the sensors signals. The system was tested on prototype robots which are composed by using an Arduino board and a steerable scaled chassis. The autonomous mobile robot is equipped with three infrared sensors to monitor the spacing, the speed, and keeping the driving lane. The results experiment in real-time demonstrates the performance improvement of the integrated systems.