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International Journal of Automotive Technology > Volume 13(5); 2012 > Article
International Journal of Automotive Technology 2012;13(5): 801-807.
LATERAL CONTROLLER DESIGN FOR AN UNMANNED VEHICLE VIA KALMAN FILTERING
M. H. LEE1, K. S. LEE1, H. G. PARK1, Y. C. CHA1, D. J. KIM1, B. KIM2, S. HONG1, H. H. CHUN1
1Pusan National University
2Hyundai Motor Company
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.
Key Words: Lateral control, PD controller, Unmannec vehicle, P to P algorithm, Kalman filtering
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