Publications / 1999 Proceedings of the 16th ISARC, Madrid, Spain

GPS-Based Control of a Land Vehicle

L. Cordesses, P. Martinet, B. Thuilot, M. Berducat
Pages 41-46 (1999 Proceedings of the 16th ISARC, Madrid, Spain, ISSN 2413-5844)
Abstract:

An accurate localization system (Carrier Phase differential GPS receiver) allows the design and implementation of an absolute vehicle guidance system. The preliminary work, presented in this paper, was aimed at validating the use of one GPS receiver in a vehicle guidance system, without any orientation sensor. We designed and implemented a non linear control law to perform a line-following task. Real-time experiments have been carried out on a combine harvester.

Keywords: GPS sensor; mobile robot; non linear robot control; localization