Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-e
This paper presents the design and implementation of a SLAM-based online mapping and autonomous trajectory execution system for the Nimbulus-e, a concept vehicle designed for agile maneuvering in confined spaces. The Nimbulus-e uses individual steer-by-wire corner modules with in-wheel motors at all...
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| Format: | Article |
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MDPI AG
2025-08-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/15/4830 |
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| author | Thomas Schmitz Marcel Mayer Theo Nonnenmacher Matthias Schmitz |
| author_facet | Thomas Schmitz Marcel Mayer Theo Nonnenmacher Matthias Schmitz |
| author_sort | Thomas Schmitz |
| collection | DOAJ |
| description | This paper presents the design and implementation of a SLAM-based online mapping and autonomous trajectory execution system for the Nimbulus-e, a concept vehicle designed for agile maneuvering in confined spaces. The Nimbulus-e uses individual steer-by-wire corner modules with in-wheel motors at all four corners. The associated eight joint variables serve as control inputs, allowing precise trajectory following. These control inputs can be derived from the vehicle’s trajectory using nonholonomic constraints. A LiDAR sensor is used to map the environment and detect obstacles. The system processes LiDAR data in real time, continuously updating the environment map and enabling localization within the environment. The inclusion of vehicle odometry data significantly reduces computation time and improves accuracy compared to a purely visual approach. The A* and Hybrid A* algorithms are used for trajectory planning and optimization, ensuring smooth vehicle movement. The implementation is validated through both full vehicle simulations using an ADAMS Car—MATLAB co-simulation and a scaled physical prototype, demonstrating the effectiveness of the system in navigating complex environments. This work contributes to the field of autonomous systems by demonstrating the potential of combining advanced sensor technologies with innovative control algorithms to achieve reliable and efficient navigation. Future developments will focus on improving the robustness of the system by implementing a robust closed-loop controller and exploring additional applications in dense urban traffic and agricultural operations. |
| format | Article |
| id | doaj-art-d92e9736f1504454be32cda29699e0d5 |
| institution | DOAJ |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-d92e9736f1504454be32cda29699e0d52025-08-20T03:02:56ZengMDPI AGSensors1424-82202025-08-012515483010.3390/s25154830Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-eThomas Schmitz0Marcel Mayer1Theo Nonnenmacher2Matthias Schmitz3Institute of Vehicle Systems Engineering, Ulm Technical University of Applied Sciences, Prittwitzstraße 10, 89075 Ulm, GermanyInstitute of Medical Technology and Mechatronics, Ulm Technical University of Applied Sciences, Prittwitzstraße 10, 89075 Ulm, GermanyComputational Science and Engineering, University of Ulm, 89081 Ulm, GermanyComputational Science and Engineering, University of Ulm, 89081 Ulm, GermanyThis paper presents the design and implementation of a SLAM-based online mapping and autonomous trajectory execution system for the Nimbulus-e, a concept vehicle designed for agile maneuvering in confined spaces. The Nimbulus-e uses individual steer-by-wire corner modules with in-wheel motors at all four corners. The associated eight joint variables serve as control inputs, allowing precise trajectory following. These control inputs can be derived from the vehicle’s trajectory using nonholonomic constraints. A LiDAR sensor is used to map the environment and detect obstacles. The system processes LiDAR data in real time, continuously updating the environment map and enabling localization within the environment. The inclusion of vehicle odometry data significantly reduces computation time and improves accuracy compared to a purely visual approach. The A* and Hybrid A* algorithms are used for trajectory planning and optimization, ensuring smooth vehicle movement. The implementation is validated through both full vehicle simulations using an ADAMS Car—MATLAB co-simulation and a scaled physical prototype, demonstrating the effectiveness of the system in navigating complex environments. This work contributes to the field of autonomous systems by demonstrating the potential of combining advanced sensor technologies with innovative control algorithms to achieve reliable and efficient navigation. Future developments will focus on improving the robustness of the system by implementing a robust closed-loop controller and exploring additional applications in dense urban traffic and agricultural operations.https://www.mdpi.com/1424-8220/25/15/4830individual corner modulesSLAMautonomous vehiclestrajectory planningNimbulus-eonline mapping |
| spellingShingle | Thomas Schmitz Marcel Mayer Theo Nonnenmacher Matthias Schmitz Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-e Sensors individual corner modules SLAM autonomous vehicles trajectory planning Nimbulus-e online mapping |
| title | Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-e |
| title_full | Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-e |
| title_fullStr | Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-e |
| title_full_unstemmed | Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-e |
| title_short | Implementation of SLAM-Based Online Mapping and Autonomous Trajectory Execution in Software and Hardware on the Research Platform Nimbulus-e |
| title_sort | implementation of slam based online mapping and autonomous trajectory execution in software and hardware on the research platform nimbulus e |
| topic | individual corner modules SLAM autonomous vehicles trajectory planning Nimbulus-e online mapping |
| url | https://www.mdpi.com/1424-8220/25/15/4830 |
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