Projects | Fadillah Adamsyah Maani

Implementation of Longitudinal and Lateral Control on Autonomous Vehicle

Mon, 01 Jan 0001 00:00:00 +0000

Supervisors : Prof. Yul Yunazwin Nazaruddin & Augie Widyotriatmo, Ph.D.

I worked with Prasetyo W. L. Sanjaya on the topic of implementation of longitudinal and lateral control systems for a real-scale autonomous golf cart as a capstone project. We used the PID concept as the longitudinal controller and the Stanley algorithm as the lateral controller. We were greatly helped by Udiana Bambang, M.Eng on hardware installations. Responsibilities include:

Designing a drive-by-wire system on a golf cart
Designing a longitudinal and lateral control module using Python
Designing a 2D state estimation module incorporating accelerometer, gyroscope, GNSS, and vehicle nonholonomic constraint using the Extended Kalman Filter algorithm
Implementing a control system consisting of path following and speed controller for an autonomous golf cart

Tools : Python, Arduino, ROS, CARLA Simulator
Libraries : Numba, Numpy, Matplotlib, Pandas
Sensors : IMU, GNSS, Absolute encoder, Linear transducer
Actuators : Nema 34, Brushed DC motor

Localization Method for Autonomous Car Using Virtual Sensing System

Mon, 01 Jan 0001 00:00:00 +0000

Supervisor : Prof. Yul Yunazwin Nazaruddin

I worked with five of my friends on conducting research in utilizing neural networks to improve vehicle state estimation. Responsibilities include:

Designing a sensor fusion module incorporation data from accelerometer, gyroscope, GNSS, and neural networks using the Error-State Kalman Filter algorithm
Designing a recurrent neural networks model
Publishing a conference paper

Tools : Python, CARLA Simulator, LaTeX
Libraries : Keras, Tensorflow, Numpy, Matplotlib, Pandas

Optimization of Longitudinal Control of Autonomous Vehicles

Mon, 01 Jan 0001 00:00:00 +0000

Supervisor : Prof. Yul Yunazwin Nazaruddin

I worked on data-driven longitudinal-model identification and optimization of longitudinal controller in CARLA Simulator. I was also a mentor of two new bright members, i.e. Alif Rizqullah Mahdi and Karina Ardellia. My responsibilities include:

Conducting research and simulation on optimization of longitudinal control of autonomous vehicles
Provided tutorials about basic optimization, nature-inspired optimization algorithms, and CARLA Simulator
Publishing a journal article

Tools : Python, CARLA Simulator, LaTeX
Libraries : Numba, Numpy, Matplotlib, Pandas