Experimental Evaluation of Perception and Actuation Architectures for the Articulated Vehicle Automatic Control

Abstract

Bus Rapid Transit systems as well as Intelligent Transport Systems are being subject of research since many years. Nowadays with highly developed instrumentation, sensing and actuation technologies it is possible to foresee an important advance in the field of autonomous and or semi-autonomous transportation systems. Among the most promising transport infrastructures the articulated bus is an interesting, low cost and friendly option. In this paper an experimental platform for research on automatic control of articulated bus is presented. Platform consists in a mobile platform (the bus) fully instrumented and in a ground test area composed of asphalt roads inside CSIC premises. Paper presents also the development of a HMI to ease progress in control system evaluation.