The study designs an autopilot of an unmanned ground vehicle (UGV) to perform navigation and control. The graphical programming language LabVIEW is used to make the task of control systems engineering clear and easy to handle. The speed and direction of the three-wheel UGV are controlled by two DC motors. The essential lateral direction control with the inner loop for steering angle control and the outer loop for heading angle control is designed by successive-loop-closure approach. The controller gains are tuned by on-line closed-loop system test. The lateral guidance strategy for achieving straight-line path following is to construct a vector field of desired heading relative to the desired path that results in the UGV moving toward the path. The experimental results from HIL simulations and field test show that the proposed autopilot is effective for navigation and control of an UGV.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Autopilot system design and practice of an unmanned ground vehicle


    Contributors:


    Publication date :

    2018-04-01


    Size :

    1087315 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Autopilot design for a robotic unmanned surface vehicle

    Peng, Zhouhua / Tian, Yong / Wang, Dan et al. | IEEE | 2015


    Autopilot Design for a Robotic Unmanned Surface Vehicle

    Peng, Zhouhua / Tian, Yong / Wang, Dan et al. | TIBKAT | 2015


    Adaptive Autopilot Design for Unmanned Airship

    Kim, B. M. / Kim, B. S. / Nanjing hang kong hang tian da xue | British Library Conference Proceedings | 2004


    Full range autopilot design for an unmanned underwater vehicle

    Cowling, D. / International Federation of Automatic Control | British Library Conference Proceedings | 1997


    AUTOPILOT SYSTEM FOR UNMANNED SHIP

    KIM JAE HWEE / CHOO GYO SIG / KIM SUNG SOO et al. | European Patent Office | 2020

    Free access