Tracking control of trajectories through satellite navigation
In order to track and steer the trajectory of a moving vehicle, this paper presents a trajectory tracking algorithm using satellite navigation. Using GPS longitude and latitude measurements, the coordinates in the xy plane are calculated to represent the trajectory in two dimensions, thus making it...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/11395 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/11395 |
| Access Level: | acceso abierto |
| Palabra clave: | Path Tracking Control GPS Satellite navigation Land-vehicle. Control de seguimiento de trayectorias navegación satelital vehículo terrestre |
| Sumario: | In order to track and steer the trajectory of a moving vehicle, this paper presents a trajectory tracking algorithm using satellite navigation. Using GPS longitude and latitude measurements, the coordinates in the xy plane are calculated to represent the trajectory in two dimensions, thus making it possible to determine the direction and calculate the deviation from the target point. To adjust the trajectory tracking and deal with disturbances, a PID controller is proposed and tests are performed on a prototype ground vehicle. Based on the information obtained in these tests, the controller is tuned and the efficiency under dynamic reference conditions is additionally evaluated. |
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