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Ridon Vehicle: Drive-by-Wire System for Scaled Vehicle Platform and Its Application on Behavior Cloning

Author

Listed:
  • Aws Khalil

    (Department of Electrical and Computer Engineering, University of Michigan-Dearborn, 4901 Evergreen Road, Dearborn, MI 48128-2406, USA)

  • Ahmed Abdelhamed

    (Department of Electrical and Computer Engineering, Kettering University, 1700 University Avenue, Flint, MI 48504-6214, USA)

  • Girma Tewolde

    (Department of Electrical and Computer Engineering, Kettering University, 1700 University Avenue, Flint, MI 48504-6214, USA)

  • Jaerock Kwon

    (Department of Electrical and Computer Engineering, University of Michigan-Dearborn, 4901 Evergreen Road, Dearborn, MI 48128-2406, USA)

Abstract

For autonomous driving research, using a scaled vehicle platform is a viable alternative compared to a full-scale vehicle. However, using embedded solutions such as small robotic platforms with differential driving or radio-controlled (RC) car-based platforms can be limiting on, for example, sensor package restrictions or computing challenges. Furthermore, for a given controller, specialized expertise and abilities are necessary. To address such problems, this paper proposes a feasible solution, the Ridon vehicle, which is a spacious ride-on automobile with high-driving electric power and a custom-designed drive-by-wire system powered by a full-scale machine-learning-ready computer. The major objective of this paper is to provide a thorough and appropriate method for constructing a cost-effective platform with a drive-by-wire system and sensor packages so that machine-learning-based algorithms can be tested and deployed on a scaled vehicle. The proposed platform employs a modular and hierarchical software architecture, with microcontroller programs handling the low-level motor controls and a graphics processing unit (GPU)-powered laptop computer processing the higher and more sophisticated algorithms. The Ridon vehicle platform is validated by employing it in a deep-learning-based behavioral cloning study. The suggested platform’s affordability and adaptability would benefit broader research and the education community.

Suggested Citation

  • Aws Khalil & Ahmed Abdelhamed & Girma Tewolde & Jaerock Kwon, 2021. "Ridon Vehicle: Drive-by-Wire System for Scaled Vehicle Platform and Its Application on Behavior Cloning," Energies, MDPI, vol. 14(23), pages 1-25, December.
    • Handle: RePEc:gam:jeners:v:14:y:2021:i:23:p:8039-:d:692946
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    References listed on IDEAS

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    1. Tostado-Véliz, Marcos & León-Japa, Rogelio S. & Jurado, Francisco, 2021. "Optimal electrification of off-grid smart homes considering flexible demand and vehicle-to-home capabilities," Applied Energy, Elsevier, vol. 298(C).
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