The study of tracking control for autonomous vehicle

International Journal of Mechanical Engineering

© 2020 by SSRG - IJME Journal

Volume 7 Issue 11

Year of Publication : 2020

Authors : Wen-Kung Tseng, Hou-Yu Chen

10.14445/23488360/IJME-V7I11P108

How to Cite?

Wen-Kung Tseng, Hou-Yu Chen, "The study of tracking control for autonomous vehicle," SSRG International Journal of Mechanical Engineering, vol. 7,  no. 11, pp. 57-62, 2020. Crossref, https://doi.org/10.14445/23488360/IJME-V7I11P108

Abstract:

The research and development of autonomous vehicles are growing immensely. With the upgrading of hardware equipment, autonomous vehicles are becoming more advanced, and their development costs are also increasing. This study's main objective is to construct an autonomous vehicle tracking control system based on Robot Operating System (ROS), integrating various ROS feature suites, ROS library for self-driving control, SLAM, path planning, and obstacle avoidance. The STM32 ARM microcontroller is used to drive the autonomous vehicle deceleration motor, and ROS is installed on the Raspberry Pi 3B+ with low-cost optical LIDAR (light detection and ranging) and Inertial Measurement Unit (IMU). These enable the autonomous vehicle to complete functions such as positioning, map construction, autonomous navigation, and arrive at the desired destination through the planned path with obstacle avoidance.

Keywords:

autonomous vehicle, robot operating system, Raspberry Pi, LIDAR, inertial measurement unit.

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