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Lateral controller design for an unmanned vehicle via Kalman filtering |
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| Authors: | M H Lee K S Lee H G Park Y C Cha D J Kim B Kim S Hong H H Chun |
| Institution: | 1. Graduate School of Mechanical Engineering, Pusan National University, Busan, 609-735, Korea 2. Powertrain CAE Team, Powertrain Center, Hyundai Motor Company, 772-1 Jangduk-dong, Hwaseong-si, Gyeonggi, 445-706, Korea 3. Global Core Research Center for Ships and Offshore Plants, Pusan National University, Busan, 609-735, Korea 4. Department of Naval Architecture and Ocean Engineering, Pusan National University, Busan, 609-735, Korea |
| 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. |
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