DESIGN AND DEVELOPMENT OF A HEADING ANGLE CONTROLLER FOR AN UNMANNED GROUND VEHICLE

SAHOO, S.; SUBRAMANIAN, S. C.; MAHALE, N.; SRIVASTAVA, S.

doi:2015.16.1.27

International Journal of Automotive Technology > Volume 16(1); 2015 > Article

Automobile Chassis & Vehicle Dynamic

International Journal of Automotive Technology 2015;16(1): 27-37.
doi: https://doi.org/10.1007/s12239-015-0003-8

DESIGN AND DEVELOPMENT OF A HEADING ANGLE CONTROLLER FOR AN UNMANNED GROUND VEHICLE

S. SAHOO¹, S. C. SUBRAMANIAN², N. MAHALE¹, S. SRIVASTAVA³

¹Centre for Artificial Intelligence and Robotics
²Indian Institute of Technology Madras
³Gas Turbine Research Establishment

ABSTRACT

This paper describes the design and implementation of a controller to track the desired heading angle for an unmanned ground vehicle (UGV) considering the limits on rotation of steering wheel and steering motor rate. The well-known

Key Words: Unmanned Ground Vehicle (UGV), Navigation, Path tracking, Heading control