Kinematic control of a vehicle via a GPS sensor for autonomous driving

Danny José  Zea Orellana

doi:10.53313/gwj42023

PDF (Spanish)

Published: 2021-08-31

DOI: https://doi.org/10.53313/gwj42023

Keywords:

Kinematic control, GPS sensor, Autonomous driving

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Danny José Zea Orellana

Escuela Superior Politécnica de Chimborazo

Abstract

The research analyzes the behavior and performance of a control law that has been validated in a previous study in a 3D simulation program. Now, it will be evaluated in a Mazda 6 vehicle with the objective of driving along a previously designed trajectory. This is possible thanks to the use of a GPS sensor as well as additional sensors that allow to know the direct kinematics of the vehicle at each instant of time. Experimental tests were carried out with the use of a Raspberry pi 3 b+ which is responsible for receiving the information from the sensors and then processed this information so that the control law allows sending the control actions to the actuators. Finally, the results are presented in order to be used for future research that will allow the implementation of a fully autonomous driving system.

Issue

Vol. 4 No. 02 (2021): Water and Ecosystems: Foundations of Life and Environmental Balance

Section

Artículos

Author Biography

Danny José Zea Orellana, Escuela Superior Politécnica de Chimborazo

Ingeniero en Electrónica, Control y Redes Industriales en la Escuela Superior Politécnica de Chimborazo (ESPOCH). Máster Universitario en Ingeniería Electromecánica con mención en Mecatrónica de la Universidad Politécnica de Madrid. Trabajo de Fin de Máster en la línea de investigación: Sensores IoT en la Conducción Autónoma, realizado en el Consejo Superior de Investigaciones Científicas de Madrid. Participa como Docente Universitario y Docente Investigador en varios Proyectos de Investigación en la ESPOCH. Director del proyecto de investigación “Sensores IoT en vehículos para mejorar la seguridad vial”. Actualmente cursa un PhD(c) en Automática y Robótica en la Universidad Politécnica de Madrid

How to Cite

Zea Orellana, D. J. (2021). Kinematic control of a vehicle via a GPS sensor for autonomous driving. Green World Journal, 4(02). https://doi.org/10.53313/gwj42023

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