الفهرس 
LITERATURE REVIEWOnly 14 pages are availabe for public view
 |  | from | 212 |  |  |
| | | from | 212 | | |
Abstract
Development and Control of Autonomous Vehicles (AVs) is the scope of this study. This thesis presents the researcher’s view about the development of a uni-fied framework for the development of these vehicles, which facilitates the utiliza-tion of different theories and research efforts of various researchers in this field.
The first chapter presents the evolution of the industrial revolution up to Indus-try 4.0 and its relation with AVs’ development, highlighting the main challenges that faces their development. Chapter two covers an overview about relevant re-search efforts in the same field, concluding with the research gap addressed by the study; developing a unified framework for AVs to facilitate utilizing these efforts.
In chapter three the main contribution of the study is presented; development of the ATOM framework. It enables the development of several add-on modules to the vehicle to communicate and exchange information. The main controller takes the most suitable decision in light of the vehicle’s surrounding environment.
Chapter four handles the different details of upgrading the manual vehicle to become by-wire enabled, using three modules (steer, brake and drive). In chapter five, the different sensors that are used to acquire information about the internal states of the vehicle and the external environment components are presented.
Chapter six presents the different control approaches used for each component in the vehicle. The details of the low-level PID controller are discussed such as steering control, as well as the high-level controller (FLC) used for vehicle’s trajectory tracking. Chapter seven presents how to interconnect these different presented and developed components.
The eighth chapter presents the different validation experiments. The chapter starts with the sensors model results, then the importance of utilizing Kalman Fil-ter (KF) and Extended KF for filtration and fusion. The different tracking results are highlighted, as well as the results of the camera’s results for obstacle detection and classification, and finalizing with the conclusions of these results.
Finally, chapter nine presents the summary and conclusion of this study, as well as its contribution to this field. It also presents the recommendations for future work. In this study, a unified framework for AVs development is developed to facilitate the utilization of other researchers’ theories and algorithms easily.