Work

Proportional Control with Pole-Placement-Tuned Gains for GPS-Based Waypoint Following, Experimentally Validated Against Classical Methods

Year: 2025

Type: article

Abstract: The paper focuses on the goal point following an algorithm design based on the exact Global Positioning System (GPS) points. In order to achieve that, the first GPS point and initial heading angle are previously calculated by recursively adopting GPS points from the Naver Application Programming Interface (API) map. The GPS points are designated as a goal point in order to follow the mobile platform to the generated path. Simulation and experimental results demonstrate that goal point following logic can be implemented based on the generated path achieved from the map. Furthermore, the goal-point-following method is extended to trajectory tracking by defining the vector rather than the designated goal point. The result is demonstrated through simulation and an experiment with the real mobile platform.

Source: Sensors

DOI: 10.3390/s26010255

Authors: Heonjong Yoo, Wanyoung Chung

Institution: Pukyong National University

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Pukyong National University