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Navigation and GPS Based Path Control of an Autonomous Vehicle

  • Erol Uyar
  • Levent Çetin
  • Aytaç Gören
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3949)

Abstract

In this work the navigation and GPS based trajectory control of an unmanned autonomous vehicle is introduced. The caterpillar tread like mobile vehicle with duo cycle drive is equipped with a mobile GPS and micro controller. To get accurate position data, a DGPS (Differential GPS) with a local base station is used. In order to let the vehicle to follow a desired trajectory, a reference path is given by using Way Points as GPS data’s to micro controller, which provide the position and orientation control of the vehicle. The instant position and orientation of the vehicle in accordance to an assigned plane coordinate frame are calculated by micro controller from detected latitude and longitude values (land coordinates) of mobile GPS, which receive corrected on line data’s from base station.The duo cycle vehicle is driven with geared DC motors, which are equipped with chained caterpillar tread drives, so that it can have better motion, clambering and tracking performances. Successful navigation and path following results are obtained with several experiments by various control applications

Keywords

Obstacle Avoidance Rear Wheel Autonomous Vehicle Mobile Vehicle Local Base Station 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. 1.
    Uyar, E., Cetin, L., Gören, A.: Trajectory Planning and Obstacle Avoidance Control Of A Mobile Vehicle. In: Third Triennial International Conference on Applied Automatic Systems Ohrid, Rep. Macedonia, September 18-20 (2005)Google Scholar
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    Cordesses, L., Thuilot, B., Martinet, P., Cariou, C.: Curved Path Following of a Farm Tractor Using a CP-DGPS. In: Syroco 2000, Vienna (2000)Google Scholar
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    Banta, A.: Model Creation for a Mobile Robot Using 2 Data and Features. In: 6th IFAC Symposium on Robot Control, Vienna, Austria, September 2000, vol. 2 (2000)Google Scholar
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    Groavac, S.: A New Visual Navigation Algortihm Using Nonlinear Accelaration Measurements. In: 10th Mediterrenian Conference on control&automation, Lisbon, Portugal (June 2002)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Erol Uyar
    • 1
  • Levent Çetin
    • 1
  • Aytaç Gören
    • 1
  1. 1.Mechanical Engineering DepartmentDokuz Eylül University Engineering FacultyBornova İzmirTürkiye

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