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The Design and Testing of a Novel Leader-following Automatic Guide Vehicle

Lookup NU author(s): Handong Li, Dr Saleh AliORCiD, Dr Ishita Gulati, Haicang Li, Professor Volker Pickert, Emeritus Professor Satnam Dlay



This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0).


Vehicle following technology is essential for the autonomous operation of intelligent electric vehicles under the current net-zero objective. This paper presents an innovative automated vehicle following system based on Raspberry Pi and multi-sensors. The study introduces a mathematical model of a platoon of vehicles and the creation of a linear controller. The experiments were conducted in a practical setting simulating RC vehicles with an optimal speed range of 25 cm/s to 50 cm/s. The results indicate that the built RC vehicle adapts completely to the control model of the vehicle platoon, and the controller is stable and reliable. The distance between the trolley and the obstruction reveals a linear relationship with and without load. The Raspberry Pi was utilized to successfully integrate many sensors, regulate steering, and move forward. Through the wireless network, all sensor states are synchronized with the PC. The experimental results show the dynamic performance of the car and the tracking of objects with values demonstrating the mathematical model's reliability. It also contributes to future contact-less courier services, whose importance has and will increase during emergency situations such as COVID-19 pandemic in addition to the existing autonomous vehicle research.

Publication metadata

Author(s): Li H, Ali S, Gulati I, Li H, Pickert V, Dlay S

Publication type: Article

Publication status: Published

Journal: ES General

Year: 2023

Volume: 1

Online publication date: 10/04/2023

Acceptance date: 09/04/2023

Date deposited: 26/07/2023

ISSN (print): 2836-399X

ISSN (electronic): 2836-4007

Publisher: Engineering Science


DOI: 10.30919/esg864


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