Abstract This paper describes the design and implementation of a controller to track the desired heading angle for an unmanned ground vehicle (UGV) considering the limits on rotation of steering wheel and steering motor rate. The well-known “bicycle model” approximation, that considers the vehicle slip angle and ground-wheel interaction, has been used. In this work, combined closed loop control for steering motor and heading angle of the vehicle has been considered for better accuracy. The challenge in designing this control system is to include the actuator dynamics as the response time to steer the front wheel is in the same order as that of the heading angle dynamics of the vehicle. Experiments have been conducted, analysis of data collected is presented and the resulting mathematical representation is explained in detail. Results from both simulation and experimental implementation are also compared. It has been found that the vehicle controller can be tuned effectively to achieve the desired heading angle changes up to twenty degrees within three seconds when the vehicle is moving at a speed of 1.4 m/sec.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and development of a heading angle controller for an unmanned ground vehicle


    Contributors:


    Publication date :

    2015




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English


    Classification :

    BKL:    55.20$jStraßenfahrzeugtechnik / 55.20 Straßenfahrzeugtechnik



    Design and development of a heading angle controller for an unmanned ground vehicle

    Sahoo, S. / Subramanian, S. C. / Mahale, N. et al. | Springer Verlag | 2015


    Design and development of a heading angle controller for an unmanned ground vehicle

    Sahoo, S. / Subramanian, S. C. / Mahale, N. et al. | British Library Online Contents | 2015


    Vehicle heading angle and IMU heading mounting angle improvement leveraging GNSS course angle

    Lu, Yishi / Xiong, Lu / Xia, Xin et al. | SAGE Publications | 2023



    Evaluation of the transient response and implementation of a heading-angle controller for an autonomous ground vehicle

    Sahoo,S. / Subramanian,S.C. / Srivastava,S. et al. | Automotive engineering | 2016