The number of highly automated vehicles and mobile robots has recently increased significantly. This trend is also present in the case of agricultural and military vehicles that operate in off-road conditions. These vehicles show a wide range of varieties in size, steering systems, and type of running gear. This research aims to present a modular software architecture with an easily adaptable control algorithm for the path-tracking control of unmanned ground vehicles. The developed system has been applied to an 8×8 test vehicle platform and tested on a predefined trajectory at different traveling speeds. The results show that the system can follow the desired trajectory accurately.
Modular Path-Following Control Architecture for Unmanned Ground Vehicles in ROS 2 Environment
23.01.2025
7485421 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Unmanned Air-Ground Vehicles Path Planning Using Model Predictive Control
Springer Verlag | 2025
|