Improvements to a Novel Autonomous Personal Rapid Transit (PRT) Prototype Vehicle

Abstract The North Carolina State University research team is exploring the future of urban mobility through the EcoPRT project, which focuses on autonomous micro-transit systems. In this paper, the team presents the latest generation of prototype vehicles developed to improve the previous mechanical and software designs. A brief design review of the old prototype vehicle is presented, and the limitations of this design are addressed with the proposed solutions applied in the new prototype vehicles. The new prototypes are constructed to be lightweight with a lower center of gravity. They have custom-designed steering for improved turning capability. The suspension components are also optimized for additional ride comfort and lateral stability. Lastly, a modified spring-loaded braking system has been developed for precise control over braking force. Additionally, the team has integrated advanced IMUs, GNSS-RTK, stereo cameras, and LiDARs to upgrade the system. The control software framework has been migrated to the state-of-the-art Robot Operating System (ROS), enabling the team to leverage the new hardware and improve localization, perception, path following, obstacle detection and recognition, and navigation capabilities. The paper also describes the different simulation tools available, such as Gazebo, Simulink, and CARLA, which work with ROS and their respective advantages and limitations in simulating various aspects of vehicle development. This paper provides a glimpse of the future of autonomous micro-transit systems, which are safer, more efficient, and reliable than ever before.