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Intelligent and Autonomous Guidance Through a Geometric Model for Conventional Vehicles

Abstract:

Cyber-physical systems (CPS) in the automobile industry are facing major challenges related to the use and validation of these CPS, which entails high costs in the implementation and training tests in the physical world, thus limiting research. Therefore, there is a need to shorten the validation times of these CPS with the use of 3D simulation software. This research article proposes to simulate a CPS in the simulation software Webots, with the aim of emulating the autonomous movement of conventional vehicles by integrating a GPS sensor and a compass sensor which provide information on location and orientation, these data are used for the implementation of a geometric model by vectors, the same one that is developed in a controller that allows to take actions on the vehicles in the simulation software in order to emulate an urban traffic. Finally, a series of configurations have been made to evaluate the geometric model, managing to maintain the default speed of 94.194% with curves greater than 90 degrees. In addition, the validation of this system in a real environment through the instrumentation in land vehicles is drawn as future lines.