Commissioning and testing of an autonomous ground vehicle

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.