Design of an Autonomous Controlled and GPS-guided: Experimental Small-Scale Prototype

Authors

  • Farhan Aizuddin
  • Wan Rahiman

Abstract

Research work on autonomous ground vehicle are commonly used small-scale vehicles as a proof of concept for autonomous navigation system. This paper describes the design development process of developing a navigation system based on COTS (commercially-off-the-shelf) components for small-scale autonomous car prototype for waypoints via GPS and magnetometer as navigational inputs. Field experiments were conducted at a selected test site to validate the navigational algorithm developed and the small-scale prototype. The experiments were successful where the small-scale prototype has successfully managed to navigate to all waypoints within the designated turning and stopping criteria. However, the prototype is found to have looping behaviour when traveling from Waypoint 2 to Waypoint 3 which is attributed to the GPS receiver obtained a different current GPS position while travelling and the maneuvering of the prototype based on the differences between the heading angles of the two sensors.

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Published

2020-01-27

Issue

Section

Articles