Model-Based Design and Implementation of Dynamic Controller for Autonomous Guidance of a Scale Automobile

GUILLERMO A. ROLLE; MATÍAS A. NACUSSE; MARTIN A. CRESPO; SERGIO J. JUNCO

Ciudad de San Juan

Congreso; VI IEEE BIENNIAL CONGRESS OF ARGENTINA; 2022

Instituto de Automática (CONICET/UNSJ)

This paper presents the design and implementationof a controller based on the dynamic model of a 1:10-scaleautomobile that allows autonomous guidance. The control archi-tecture was developed at two different hierarchy levels. The lowlevel corresponds to the control of the traction and the steeringservo motors, while the high level corresponds to the controllerbased on the dynamic model of the automobile. The controllerwas first tested with different degrees of realism by numericalsimulations and then implemented on a real mobile platformunder the Robot Operating System framework. Finally, theperformance of the controller is evaluated for different referencetrajectories.