TY - GEN
T1 - A Linear Algebra Based Controller for an Autonomous Ground Vehicle
T2 - 7th IEEE Colombian Conference on Applications of Computational Intelligence, ColCACI 2024
AU - Gómez-Guerra, Gabriel
AU - Játiva, René
AU - Scaglia, Gustavo
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.
PY - 2025
Y1 - 2025
N2 - The Navigation Subsystem of an autonomous ground vehicle has been developed to follow a predefined trajectory along a semi-structured environment. For this purpose, a linear algebra-based controller has been designed taking into account the Ackerman kinematic model. Furthermore, two PID controllers and two one-dimensional Kalman filters have been implemented to allow the proper adjustment of the vehicle’s linear velocity and steering angle. A CAN expansion module has also been installed in the vehicle Navigation Subsystem, enabling it to communicate with the vehicle Environment Description Subsystem, which provides information about the surroundings, allowing the Navigation Subsystem to react to external stimuli. Finally, several tests were performed to verify the correct behavior of the controllers and the communication interface.
AB - The Navigation Subsystem of an autonomous ground vehicle has been developed to follow a predefined trajectory along a semi-structured environment. For this purpose, a linear algebra-based controller has been designed taking into account the Ackerman kinematic model. Furthermore, two PID controllers and two one-dimensional Kalman filters have been implemented to allow the proper adjustment of the vehicle’s linear velocity and steering angle. A CAN expansion module has also been installed in the vehicle Navigation Subsystem, enabling it to communicate with the vehicle Environment Description Subsystem, which provides information about the surroundings, allowing the Navigation Subsystem to react to external stimuli. Finally, several tests were performed to verify the correct behavior of the controllers and the communication interface.
KW - Ackerman kinematic model
KW - Autonomous vehicle
KW - CAN communications protocol
KW - Kalman filter
KW - Linear algebra-based controller
KW - PID controller
KW - Trajectory tracking
UR - https://www.scopus.com/pages/publications/105004793154
U2 - 10.1007/978-3-031-88854-0_9
DO - 10.1007/978-3-031-88854-0_9
M3 - Contribución a la conferencia
AN - SCOPUS:105004793154
SN - 9783031888533
T3 - Communications in Computer and Information Science
SP - 125
EP - 139
BT - Applications of Computational Intelligence - 7th IEEE Colombian Conference, ColCACI 2024, Revised Selected Papers
A2 - Orjuela-Cañón, Alvaro David
A2 - Lopez, Jesus A.
A2 - Suarez, Oscar J.
PB - Springer Science and Business Media Deutschland GmbH
Y2 - 17 July 2024 through 19 July 2024
ER -