A Fleet of Miniature Cars for Experiments in Cooperative Driving


Type
Conference Object
Change log
Authors
Hyldmar, Nicholas 
He, Yijun 
Abstract

We introduce a unique experimental testbed that consists of a fleet of 16 miniature Ackermann-steering vehicles. We are motivated by a lack of available low-cost platforms to support research and education in multi-car navigation and trajectory planning. This article elaborates the design of our miniature robotic car, the Cambridge Minicar, as well as the fleet's control architecture. Our experimental testbed allows us to implement state-of-the-art driver models as well as autonomous control strategies, and test their validity in a real, physical multi-lane setup. Through experiments on our miniature highway, we are able to tangibly demonstrate the benefits of cooperative driving on multi-lane road topographies. Our setup paves the way for indoor large-fleet experimental research.

Description
Keywords
cs.RO, cs.RO, cs.SY
Journal Title
2019 International Conference on Robotics and Automation (ICRA)
Conference Name
IEEE International Conference on Robotics and Automation
Journal ISSN
1050-4729
2577-087X
Volume Title
Publisher
IEEE
Sponsorship
We gratefully acknowledge the Isaac Newton Trust who are supporting Amanda Prorok through an Early Career Grant.