This paper investigates the use of photoresistive light sensor arrays as a possible lateral position sensing system for a vehicle, or several vehicles, following a lead vehicle under separate control. A brief motivation for the use of such a sensing array is followed by a derivation of an appropriate sensor layout. It is shown that the sensing array has several benefits, including cost, simplicity, redundancy, and near linearity. Experimental results are given for a scaled vehicle following manoeuvre using a simple lateral control strategy. The results show that the sensor array may be attractive for lateral alignment in vehicle-following manoeuvres.
A lateral position sensing system for automated vehicle following
IEEE/ASME Transactions on Mechatronics ; 3 , 3 ; 218-224
1998
7 Seiten, 10 Quellen
Aufsatz (Zeitschrift)
Englisch
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