Basic Motion Model of Autonomous Ground Vehicle
نویسنده
چکیده
This paper deals with the basic design and implementation of the mathematical motion model of an autonomous unmanned ground vehicle. This model comes from the specific construction of the vehicle, which was designed in order to verify and demonstrate its autonomous motion possibilities indoors and outdoors. This article presents two different issues of the basic model: a) computing vehicle position depending on values of parameters of its motion system and b) deriving values of these parameters according to current demands for movement of the vehicle from a current position to a new position. Key-Words: model, unmanned vehicle, autonomous motion, manual control, autonomous control
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