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Path tracking algorithm for an autonomous ground robot

Mohd Johary, Noorain (2014) Path tracking algorithm for an autonomous ground robot. Masters thesis, Universiti Tun Hussein Onn Malaysia.


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This paper presents a path tracking algorithm using proportional-integral-derivative (PID) controller. In this paper the tracking problem of an autonomous ground robot is considered. A new control strategy is proposed to determine the tracking algorithm can deal with very large tracking error or not. Besides that, autonomous ground robots maybe have an overshoot and deviation occurs when following the path as the path are made of linear segments which lead to abrupt change at waypoint. Therefore, tracking control algorithm need to be implement so that the robot will able to track the planned path smoothly. Simulation results show that the proposed path tracking algorithms are computationally efficient and the path tracking using PID controller are capable of tracking the path.

Item Type: Thesis (Masters)
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Depositing User: Normajihan Abd. Rahman
Date Deposited: 30 Jun 2014 02:05
Last Modified: 30 Jun 2014 02:05
URI: http://eprints.uthm.edu.my/id/eprint/5524
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