Auto track using Kinematic model

[Shriraam Prabu]

Hi,

I'm trying to implement an auto track guidance system for ground vehicles (Eg Tractors), I'm using Matlab and Simulink. I'm at a point where I can calculate heading errors. I'm not too sure how to calculate the lateral errors. Also, I need help in designing the controller. I'm using kinematic model since its a tractor, planning to use low-fidelity model.

Thanks

 

[berkeman]

Hi,

I'm trying to implement an auto track guidance system for ground vehicles (Eg Tractors), I'm using Matlab and Simulink. I'm at a point where I can calculate heading errors. I'm not too sure how to calculate the lateral errors. Also, I need help in designing the controller. I'm using kinematic model since its a tractor, planning to use low-fidelity model.

Thanks

Welcome to the PF.

What are you using for your sensor inputs? Compass, camera, GPS, etc.? How are you monitoring the wheels, and how will you account for wheel slip?

 

[Shriraam Prabu]

Hi,

I'm doing this just for simulation. Since I'm doing kinematic model I'm considering no slip atm. My world coordinates are my GPS values (X and Y)

 

[Shriraam Prabu]

I'm now in a point to design my control law, where I get my lateral and heading errors and turn them into my desired steering values. I don't know how to do that.

 

[berkeman]

I don't know how to do that.

So you must be doing some reading about how to do it then. We are not allowed to do your schoolwork for you. What control methods have you been studying? Have you read about PID control systems? Have you read about critical damping?

 

[Shriraam Prabu]

Sorry, I'm a bit confused here. I have little knowledge in PID control systems. But the lateral error and heading errors should be converted to steering angle. Do I need to find the transfer function? I'm working all in time domain simulink models.

 

[Shriraam Prabu]

My plant model inputs are velocity and steering angle, my outputs are X,Y coordinates and yaw rate.