Simple autonomous control of wheeled vehicles with limited operation amount using high-precision satellite positioning technology

Abstract

In this research, a method for autonomous control of a vehicle with limited actuator operation is proposed. Inexpensive DC motors are used for steering and driving actuators of this vehicle, and they can only be applied to On-Off control. Therefore, the vehicle cannot trace the desired route with high accuracy but has sufficient performance to reach the target point despite driving with unstable steering. An algorithm is proposed that realizes autonomous driving using only position information obtained from high-precision satellite positioning technology. The effectiveness of the proposed method is verified by driving experiments.