LATERAL CONTROLLER DESIGN FOR AN UNMANNED VEHICLE VIA KALMAN FILTERING

Title
LATERAL CONTROLLER DESIGN FOR AN UNMANNED VEHICLE VIA KALMAN FILTERING
Author(s)
M. H. LEE[M. H. LEE]K. S. LEE[K. S. LEE]H. G. PARK[H. G. PARK]Y. C. CHA[Y. C. CHA]D. J. KIM[D. J. KIM]김병일S. HONG[S. HONG]H. H. CHUN[H. H. CHUN]
Keywords
SYSTEM; GPS/INS; OBSERVABILITY
Issue Date
201208
Publisher
KOREAN SOC AUTOMOTIVE ENGINEERS-KSAE
Citation
INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY, v.13, no.5, pp.801 - 807
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.
URI
http://hdl.handle.net/YU.REPOSITORY/27473http://dx.doi.org/10.1007/s12239-012-0080-x
ISSN
1229-9138
Appears in Collections:
공과대학 > 기계공학부 > Articles
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