Tracking control of trajectories through satellite navigation
Abstract
In order to track and steer the trajectory of a moving vehicle, this paper presents a trajectory tracking algorithm using satellite navigation. Using GPS longitude and latitude measurements, the coordinates in the xy plane are calculated to represent the trajectory in two dimensions, thus making it possible to determine the direction and calculate the deviation from the target point. To adjust the trajectory tracking and deal with disturbances, a PID controller is proposed and tests are performed on a prototype ground vehicle. Based on the information obtained in these tests, the controller is tuned and the efficiency under dynamic reference conditions is additionally evaluated.
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References
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Copyright (c) 2023 Ivón Guadalupe Valencia-Sandoval, Cristina Cervantes-Vázquez, Michelle Reyes-Hernández, Alberto Trasloshero-Michel
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