한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

GPS 정보를 이용한 지능형 차량의 자율 경로추적 제어

Autonomous Tracking Control of Intelligent Vehicle using GPS Information

  • 발행 : 2008.10.01
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초록

In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

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참고문헌

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