Abstract 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.
Lateral controller design for an unmanned vehicle via Kalman filtering
International Journal of Automotive Technology ; 13 , 5 ; 801-807
2012-07-28
7 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Lateral controller design for an unmanned vehicle via Kalman filtering
Online Contents | 2012
|Lateral controller design for an unmanned vehicle via Kalman filtering
British Library Online Contents | 2012
|Europäisches Patentamt | 2020
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