Design and Implementation of PID-Based Steering Control for 1/10-Scale Autonomous Vehicle

Victor Robila, Laura Paulino, Mihir Rao, Iris Li, Michelle Zhu, Weitian Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Due to the rising popularity and interest in autonomous vehicles, it is beneficial to build a low-cost prototype autonomous vehicle for educational purposes. Thus, more students would be able to acquire hands-on experiences in designing and implementing critical smart navigational functionalities for autonomous vehicles. In this study, Proportional-Integral-Derivative (PID) control and steering control algorithms are developed to maneuver a 1/10-scale autonomous vehicle in a real-world scaled-down driving environment. An obstacle detection system is also designed. The state-of-the-art Robot Operating System (ROS) is employed in the software development and vehicle control to communicate between components. This paper, as part of a few related papers on autonomous vehicle from our research group, focuses on the control algorithms design and implementation, which incorporates continuous real-time feedback to generate a correction value to keep the vehicle on track. The algorithm combines the lane tracking, stop sign detection, and obstacle detection of the vehicle and sends data values to motors. Experimental results suggest the efficacy of our developed approaches. The future work of this study is discussed.

Original languageEnglish
Title of host publication2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
EditorsRajashree Paul
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages758-762
Number of pages5
ISBN (Electronic)9781665406901
DOIs
StatePublished - 2021
Event12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021 - New York, United States
Duration: 1 Dec 20214 Dec 2021

Publication series

Name2021 IEEE 12th Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021

Conference

Conference12th IEEE Annual Ubiquitous Computing, Electronics and Mobile Communication Conference, UEMCON 2021
Country/TerritoryUnited States
CityNew York
Period1/12/214/12/21

Keywords

  • Autonomous vehicle
  • Computer vision
  • Obstacle detection
  • PID Control

Fingerprint

Dive into the research topics of 'Design and Implementation of PID-Based Steering Control for 1/10-Scale Autonomous Vehicle'. Together they form a unique fingerprint.

Cite this