Author : Yehia Hossam El Din
CoAuthors : A. Khalil* , S. Hegazy* and A.Roheim*
Source : Presented and Published on the Sventeenth International Conference on Applied Mechanics & Mechanical Engineering , Military Technical College , Cairo, Egypt
Date of Publication : 04/2016
Abstract :
This paper presents the design and implementation of a navigation control system for
Unmanned Ground Vehicles (UGV). Three actuators for steering system, speed
control and braking systems are designed and implemented to convert an electric car
to be unmanned vehicle. A mathematical model for Ackerman steering is modeled
and simulated using MATLAB/SIMULINK. The concept of structure of the system and
the modularity and redundancy of the implemented control algorithms are
emphasized during system development. The proposed navigation system includes
longitudinal control and lateral control. Longitudinal control is responsible for
controlling the speed of the vehicle through the accelerator actuator. Lateral control is
responsible for controlling the direction by using steering motor. The proposed
navigation control system is implemented based on GPS with an integrated digital
compass. The distance error of the vehicle position is calculated according to vehicle
heading. Of coarse the simulation path from simulation results, is coincident on the
required path. Form experimental testing results there are good correlations for
actual and required navigation between two points, three points and four points.
There is a little difference between actual vehicle path and required path. This is due
to using commercial (low-cost) sensors and actuators. The significance of this work is
in the understanding of the transition from theory to practice and to integrate the
necessary technology for local manufacturing of these types of vehicles.
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