Implementation of a Class of True Digital Control (TDC) in the Navigation of a Ground Vehicle
A. Abdelhamid, E. M. Shaban, Younes Khalil · 2013
In this research, experimental work and simulations are carried out to evaluate the Proportional–Integral–Plus (PIP) control methodology which has been applied to a ground vehicle, which may be used in landmines detection. The objective of this work is to evaluate the controller in terms of tracking performance. A primitive route planning algorithm has been proposed to control the vehicle when it encounters an obstacle in its path. This algorithm of collision-free path is automatically generated, given the location of the obstacle. The approach utilizes an experimental data-based model of the vehicle in discrete–time which suitable for PIP control system design. The results of the experimental study have shown that the designed trajectory is comfortably met by using a straightforward fixed gains linear PIP algorithm. The vehicle starts to maneuver and it stops at the desired position at the desired orientation with a small acceptable margin of error which proves the validity of the PIP control algorithm.