Development of Path Tracking Controller for An Autonomous Tracked Vehicle

被引：0

作者：

Subari, Muhammad Akhimullah ^{[1
]}

Hudha, Khisbullah ^{[1
]}

Abd Kadir, Zulkiffli ^{[1
]}

Dardin, Syed Mohd Fairuz Syed Mohd ^{[1
]}

Amer, Noor Hafizah ^{[1
]}

机构：

[1] Univ Pertahanan Nasl Malaysia, Fac Engn, Kuala Lumpur 57000, Malaysia

来源：

2020 16TH IEEE INTERNATIONAL COLLOQUIUM ON SIGNAL PROCESSING & ITS APPLICATIONS (CSPA 2020) | 2020年

关键词：

autonomous tracked vehicle; path following; path tracking; pid;

D O I：

10.1109/cspa48992.2020.9068686

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This study presents the development of autonomous tracked vehicle and its path tracking control. The path tracking controller was developed based on the previous study and later modified by adding a PID controller to improve the sensitivity of the controller. Then, the tracked vehicle and controller proposed were tested by using a Matlab/Simulink software. The validation process was completed at two different path; straight line path and hook path. The result shows a big improvement for both cases where an improvement of 40% had been archived by using a proposed controller in this study.

引用

页码：126 / 130

页数：5

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