Arquitecturas de percepción y de actuación para la automatización de vehículos rodantes de grandes dimensiones

Abstract

This paper presents the most important concepts of the architecture for perception and actuation implemented on a large vehicle with pneumatics wheels, in this case an articulated bus Volvo B10M of 18.75m in length. In addition, some experimental results of the vehicle automation to track a guide rail by means of a mechatronics box of guidance (Rolling Box System) are presented. The automation of this articulated bus provides a combination of intrinsic advantages possessed by buses and conventional trains. This is because it can go up slopes of over 15% and to carry out turns with small radii of curvature, also it can carry a lot of passengers, especially if the new vehicle is used in convoy mode. This mode of transportation is an interesting friendly option and of low cost. This manuscript presents an experimental architecture for perception, actuation and control for the development of lateral and longitudinal control of an articulated bus. This architecture consists of an experimental platform fully instrumented (articulated bus), and a test track built within the premises of the CAR (CSIC-UPM), Madrid, Spain.