Path-Following with Radar-based Obstacle Localization of Unmanned Ground Vehicle in Campus Environment
Hao Li, Jinghua Li, Qiqiang Cheng, Jiangjiang Li · International Conference on Frontiers of Electronics, Information and Computation Technologies · 2021
Unmanned ground vehicle (UGV) has a promising application in industry and society. Many kinds of research are proposed to develop UGV technology. However, the UGV for a particular application environment is very meaningful for UGV development. In this paper, a UGV which can move in the campus environment (UGV-CE) is proposed. In detail, the Dijkstra algorithm is used to calculate the shortest path from the start point of each vehicle to the destination for UGV-CE. The incremental PID controller of UGV-CE uses the combination of preview point and closest point to follow the path steadily; Besides, the transformation from latitude and longitude to Frenet-Serret system is applied for UGV-CE. Under the Frenet-Serret system, vector collision time is proposed to conduct the collision prediction between vehicle and obstacle. In addition, the experiment results suggest that obstacle can be recognized validly and the PID controller operates steadily.