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Controller for the path-following of visual unmanned ground systems

This controller close the loop in the path-following of visually guided unmaned ground systems problem. It uses the information given by a state estimator (see State estimation for the path-following of visual unmanned ground systems) as the inputs and generates a steering wheel reference to the platform.

It is composed by three modules:

Fig. 1: Controller scheme
  • The Wheel Dynamics compensator: compensates the dynamics due to the deformation of the wheel of the platform
  • The Feed-Forward controller: adds a reference to the steering using the known information of the circuit that we are following and the speed of the vehicle.
  • The Feed-Back controller: closes the loop using the distante and angle to the path and the speed of the vehicle.

The performance of this controller was tested thanks simulations and tests in our Citroen C3 Platform.