Improving Position-Time Trajectory Accuracy in Vehicle Stop-and-Go Scenarios by Using a Mobile Robot as a Testbed

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dc.contributor.authorBakirci, Murat
dc.contributor.authorCetin, Mecit
dc.date.accessioned2025-03-17T12:27:47Z
dc.date.available2025-03-17T12:27:47Z
dc.date.issued2023
dc.departmentTarsus Üniversitesi
dc.description.abstractThis study sets an example of how mobile robotic vehicles can be used effectively in research on intelligent transportation systems. Especially the stop-and-go mobility seen in heavy traffic conditions was simulated with a mobile robot, and the study is focused on how to obtain distance-time trajectories more accurately under these conditions. System identification tests of the mobile robotic platform, whose kinematic model was developed, were also carried out, and all solutions regarding robot movement were obtained. For the congested traffic simulation, various stop-and-go points are designated on a predetermined straight route segment to mimic behavior of a vehicle in congested traffic. Robot trajectories were obtained under different scenarios by using both GPS data and a kinematic model through the utilization of motor encoders. More accurate and consistent trajectories were achieved by fusing these trajectories with the Extended Kalman Filter. The main contribution of this study is demonstrating how the number of stop-and-go positions can improve the accuracy in estimating the robot/vehicle trajectory. The paper shows how the cumulative error in predicting the trajectories in reduced as the number of stops increases. For example, the trajectory estimated for a scenario involving five stop-and-go points is 94% more accurate than that for the case with a single stop.
dc.identifier.endpage44
dc.identifier.issn1454-8658
dc.identifier.issue3
dc.identifier.scopus2-s2.0-85173049590
dc.identifier.scopusqualityQ3
dc.identifier.startpage35
dc.identifier.urihttps://hdl.handle.net/20.500.13099/2449
dc.identifier.volume25
dc.identifier.wosWOS:001080469500004
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherRomanian Soc Control Tech Informatics
dc.relation.ispartofControl Engineering and Applied Informatics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WOS_20250316
dc.subjectmobile robot
dc.subjectvehicle trajectory
dc.subjectstop-and-go
dc.subjectintelligent transportation system
dc.subjectpositioning accuracy
dc.subjectdata fusion
dc.titleImproving Position-Time Trajectory Accuracy in Vehicle Stop-and-Go Scenarios by Using a Mobile Robot as a Testbed
dc.typeArticle

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