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Kinematic Control of a Vehicle on a Defined Trajectory Through a GPS Sensor and a Compass Sensor

Abstract:

This research paper is focused in analyzes the behavior and performance of a control law that has been validated in a previous study in a three dimensions (3D) simulation software, now evaluated in a Mazda 6 vehicle with the objective that it travels a previously designed trajectory. This is possible, thanks to the use of a Global Positioning System (GPS) sensor as well as additional sensors that allow us to know the direct kinematics of the vehicle at each instant of time. The experimental tests were carried out with the use of a Raspberry pi 3 b + (small single-board computers) that is in charge of receiving the information from the sensors and then processed this information so that the control law allows the control actions sent to the actuators. Finally, results are presented to be considered for future research that allows the implementation of a fully autonomous driving system.