Development and Verification of a Control Logic for an Autonomous Ground Vehicle based on GNSS-RTK

초록

This paper presents a development and verification of an autonomous ground vehicle focusing on its control logic to follow-up the previously defined path in road. A loosely coupled Kalman filter to integrate an RTK-GNSS receiver and a GNSS/INS sensor is incorporated as a navigation system of the vehicle to provide precise position, speed and heading information to the controller. A path follow-up controller is designed to include a longitudinal controller and a lateral controller, where a PID controller is used for the longitudinal control of the vehicle to accelerate, decelerate and stop in emergency situation in given distances, while a pure pursuit controller is used for the lateral controller. Detailed parameters of both controllers are chosen experimentally in compliance with the regulations on the format and ranges of control input and measurement output of the designed system.