期刊
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY
卷 13, 期 5, 页码 801-807出版社
KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
DOI: 10.1007/s12239-012-0080-x
关键词
Lateral control; PD controller; Unmannec vehicle; P to P algorithm; Kalman filtering
资金
- Hyundai Motor Group
- National Research Foundation of Korea (NRF)
- Korea government (MEST) through GCRC-SOP [2011-0030658]
This paper proposes a lateral control system for an unmanned vehicle that is designed to improve the responsiveness of the system with the use of a PD control. The vehicle heading error can be stabilized, and the transient response characteristics can be improved using the proposed controller. A mathematical model of the vehicle dynamics using two degrees of freedom was developed for the controller design. The waypoint tracking method for autonomous navigation was tested with incorporation of the Point-to-Point algorithm with position and heading measurements received from GPS receivers via Kalman filtering. The performance of the designed controller was verified through experiments with a real vehicle.
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