An Automatic Driving Algorithm for Outdoor Wheeled Unmanned Vehicle

In order to satisfy the requirement of automatic driving of outdoor unmanned vehicle, an automatic driving algorithm composed of integrated navigation and guidance control is proposed. The integrated navigation algorithm, which is fused with IMU, GNSS receiver and odometer, is designed based on SCKF...

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Bibliographic Details
Main Authors: Wu, Ping, Dou, Zhihong, Cui, Mengnan, Liu, Hao, Niu, Zhichao, Liu, Gangjun
Format: Conference Proceeding
Language:English
Subjects:
Aerospace control
automatic driving
Global navigation satellite system
guidance control
Inertial navigation
integrated navigation
Kalman filters
Mathematical model
SCKF
unmanned vehicle
Unmanned vehicles
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Summary:In order to satisfy the requirement of automatic driving of outdoor unmanned vehicle, an automatic driving algorithm composed of integrated navigation and guidance control is proposed. The integrated navigation algorithm, which is fused with IMU, GNSS receiver and odometer, is designed based on SCKF with second-order fixed nonlinear expansion as the measurement model. The guidance control algorithm divides the expected route into segments and calculates the lateral and angular deviation between unmanned vehicle and the segmented route according to the longitude, latitude, heading angle and the key points sequence of the electronic map. The algorithm eliminates the deviation by incremental PID controller to realize the route tracking segment by segment. The simulation experiment results show that the accuracy of the integrated navigation algorithm based on SCKF is better than that based on SKF. The outdoor experiment verifies the effectiveness of the proposed automatic driving algorithm.
ISSN:2475-7896
DOI:10.1109/ICCAIS46528.2019.9074677