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JRM Vol.32 No.3 pp. 571-579
doi: 10.20965/jrm.2020.p0571
(2020)

Paper:

Tracking Control of a Micro Ground Vehicle Using the Course Coordinate

Masanori Harada and Yuki Ueyama

National Defense Academy of Japan
1-10-20 Hashirimizu, Yokosuka, Kanagawa 239-8686, Japan

Received:
January 10, 2020
Accepted:
April 6, 2020
Published:
June 20, 2020
Keywords:
tracking control, micro ground vehicle, lane keeping, lane-change, course coordinate
Abstract
Tracking Control of a Micro Ground Vehicle Using the Course Coordinate

Double lane-change in the curved section

In this study, the tracking control of a micro ground vehicle (MGV) is investigated using the course coordinate. The course layout, which consists of the straight section and the curved section, is defined by the course coordinate with the station axis and the lateral position axis. The course angle and the curvature, which are defined as functions of the station value from the optimization technique, are used in the feedforward and feedback control of the tracking controller. The proposed method is evaluated using numerical simulations and indoor experiments. The results show that the MGV can successfully track the target lane and perform the double lane-change well.

Cite this article as:
M. Harada and Y. Ueyama, “Tracking Control of a Micro Ground Vehicle Using the Course Coordinate,” J. Robot. Mechatron., Vol.32, No.3, pp. 571-579, 2020.
Data files:
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