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.


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    Title :

    Modular Path-Following Control Architecture for Unmanned Ground Vehicles in ROS 2 Environment


    Contributors:


    Publication date :

    2025-01-23


    Size :

    7485421 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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