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Haptic Feedback Remote Control System for Electric Mechanical Assembly Vehicle Developed to Avoid Obstacles

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Abstract

In recent decades, various solutions have been proposed for the navigation of vehicles in unknown environments to avoid obstacles in order to perform safer driving. In this article, a designed electric mechanical assembly vehicle provided by Mecanum 4-omnidirectional wheels holonomic on the corners of a rectangular base has been investigated with the ability to detect obstacles by combining the developed algorithms and sensing system.The vehicle is equipped with LiDAR and communication is guaranteed by WiFi. The interface with the mechanical and electrical devices of four wheeled Mecanum vehicle is well-executed by haptic feedback remote control using an analog joystick that guarantees the driving movements. Experimental tests were conducted to avoid obstacles and detect collision by the electric vehicle, in case of hazard detection. In this investigation, the obstacle is placed at the distance of 2 m away from the vehicle. If the resistance decreases, it means that the vehicle is approaching an obstacle. The recorded speed of vehicle passes from 350 mm/s to less than 10 mm/s, on the contrast, the resistance increases to reach 100%.

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Data Availability

The datasets generated during and/or analysed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

The authors would like to express their gratitude for the reliable support and scientific developments provided by Kamil Daniel, Michał Staroń, Marcin Olszowy, Daniel Liwiński and Jakub Otrza̧sek during the research activity. The authors wish to thank for her contribution and support Agata Abela.

Funding

This research was supported by the European Union from the European Social Fund in the framework of the project “Silesian University of Technology as a Center of Modern Education based on research and innovation” POWR.03.05.00-00-Z098/17.

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Authors and Affiliations

  1. Department of Mechatronics, Silesian University of Technology, Akademicka 10a, Gliwice, 44-100, Poland

    Paweł Kowol & Grazia Lo Sciuto

  2. Department of Automatic Control and Robotic, Silesian University of Technology, Akademicka 16, Gliwice, 44-100, Poland

    Paweł Nowak & Przemysław Bagier

  3. Department of Technological Processes, Automation and Integrated Manufacturing System, Silesian University of Technology, Konarskiego 18a, Gliwice, 44-100, Poland

    Wacław Banaś

  4. Department of Electrical, Electronics and Informatics Engineering, University of Catania, Viale Andrea Doria, 6, Catania, 95125, Italy

    Grazia Lo Sciuto

Authors
  1. Paweł Kowol
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  2. Paweł Nowak
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  3. Wacław Banaś
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  4. Przemysław Bagier
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by P.K., P.N., W.B., P.B. and G.L.S. Conceptualization: P.K., P.N., W.B. ; Methodology: P.K., P.N., W.B.; Formal analysis and investigation: P.K., P.N., W.B., P.B.; Supervision: P.K., P.N., W.B. and G.L.S.. The draft of the manuscript was written by all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

Corresponding author

Correspondence to Grazia Lo Sciuto.

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Kowol, P., Nowak, P., Banaś, W. et al. Haptic Feedback Remote Control System for Electric Mechanical Assembly Vehicle Developed to Avoid Obstacles. J Intell Robot Syst 107, 41 (2023). https://doi.org/10.1007/s10846-023-01824-3

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  • DOI: https://doi.org/10.1007/s10846-023-01824-3

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