GPS Based Guiding System for a Small Car

摘要

This study presents the development of GPS based guiding system for a small car. The tasks handled by the guiding system are the processing of collected GPS data, determination of deflections from the reference route path (a sequence of way points) and issuance of steering commands. A simple computational module was developed to calculate the deflection of current car position and its heading-angle relative to the planned route. The established guiding system includes a module for originating the proper motion control commands. The proportional steering command origination module depends on the position and heading angle of the vehicle relative to the planned route such that the moving vehicle should stick around the route reference line till reaching its planned destination.