Model-Based Design and Implementation of Dynamic Controller for Autonomous Guidance of a Scale Automobile
- Resource Type
- Conference
- Authors
- Rolle, Guillermo; Nacusse, Matias; Crespo, Martin; Junco, Sergio
- Source
- 2022 IEEE Biennial Congress of Argentina (ARGENCON) Biennial Congress of Argentina (ARGENCON), 2022 IEEE. :1-8 Sep, 2022
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Fields, Waves and Electromagnetics
Geoscience
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Force
Dynamics
Wheels
Traction motors
Mathematical models
Numerical models
Trajectory
Model-Based Control
Scale Automobile
Autonomous Guidance
Experimental Platform
- Language
This paper presents the design and implementation of a controller based on the dynamic model of a 1:10-scale automobile that allows autonomous guidance. The control architecture was developed at two different hierarchy levels. The low level corresponds to the control of the traction and the steering servo motors, while the high level corresponds to the controller based on the dynamic model of the automobile. The controller was first tested with different degrees of realism by numerical simulations and then implemented on a real mobile platform under the Robot Operating System framework. Finally, the performance of the controller is evaluated for different reference trajectories.