원격 조정시스템을 이용한 무인자율차량 개발

Abstract

This study shows the path algorithm developed for an UGV (Unmanned Ground Vehicle). The UGV frame which has a 4-Wheel-driven mechanism and diesel source was used in this study. The actuators as control inputs of the UGV are a steering wheel actuator, an acceleration-breaking actuator. The optima! controller was used for the path tracking algorithm using the nonlinear kinematics modeling of the UGV. The path algorithm shows the availability as applying the path algorithm to the real UGV.