Path-following control based on ground-watching navigation
This paper discusses the path-following performance of actively-steered articulated vehicles based on measurement signals from two ‘ground-watching’ navigation systems (GWNS). The ground-watching navigation systems are described. These use high-speed USB-3 cameras and an image processing computer to measure and calculate off-tracking distance for a path-following steering controller. Full-scale field tests are performed using an experimental articulated vehicle, tested under both open-loop and closed-loop conditions. Off-tracking distance at the rear camera with respect to the front camera is controlled to be less than 0.1m for tests with both GWNSs.
Engineering and Physical Sciences Research Council (EP/R035199/1)
Engineering and Physical Sciences Research Council (EP/D004152/1)