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Kinematic and Dynamic Controller Design for Autonomous Driving of Car-like Mobile Robot

Kiwon Yeom
Department of Human Intelligence Robot Engineering, Sangmyung University, South Korea

Abstract—Autonomous driving technologies are taken into account for numerous applications such as spraying agricultural chemicals, mowing golf course grass, unmanned military operations and commercial applications such as self-driving cars. This paper presents a kinematic and dynamic controller design of autonomous mobile robot for a car like vehicle to self-drive using GPS. In this paper, a simple kinematic bicycle model is introduced and Model Predictive Controller (MPC) is derived for controlling the mobile robot. Computational simulation results show that the robot can successfully navigate and drive toward a final destination reacting to the changes in the environment. Finally this study presents experimental results to show the effectiveness of the proposed controller. 

Index Terms—Autonomous driving, self-driving, kinematic control, model predictive controller, mobile robot

Cite: Kiwon Yeom, "Kinematic and Dynamic Controller Design for Autonomous Driving of Car-like Mobile Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 7, pp. 1058-1064, July 2020. DOI: 10.18178/ijmerr.9.7.1058-1064

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.