TY - GEN
T1 - Commissioning and testing of an autonomous ground vehicle
AU - Gomez, Gabriel
AU - Jativa, Rene
AU - Scaglia, Gustavo
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - 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 on the main processor, enabling it to communicate with an additional processor that provides information about the surroundings, allowing the main processor to react to external stimuli. Finally, several tests were performed to verify the correct behavior of the controllers and the communication interface.
AB - 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 on the main processor, enabling it to communicate with an additional processor that provides information about the surroundings, allowing the main processor 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 communication protocol
KW - PID controller
KW - linear algebra-based controller
KW - one-dimensional Kalman filter
KW - trajectory tracking
UR - https://www.scopus.com/pages/publications/85204935395
U2 - 10.1109/ColCACI63187.2024.10666545
DO - 10.1109/ColCACI63187.2024.10666545
M3 - Contribución a la conferencia
AN - SCOPUS:85204935395
T3 - 2024 IEEE Colombian Conference on Applications of Computational Intelligence, ColCACI 2024 - Proceedings
BT - 2024 IEEE Colombian Conference on Applications of Computational Intelligence, ColCACI 2024 - Proceedings
A2 - Orjuela-Canon, Alvaro David
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE Colombian Conference on Applications of Computational Intelligence, ColCACI 2024
Y2 - 17 July 2024 through 19 July 2024
ER -