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Paper Details
Paper Title
Implementation of drive kinematics for a self-driving car
Authors
Sudhanva S, Dr K R Prakash, Balaji Sunil Kumar
Abstract
The paper spells out the derivation and implementation of mathematical models which provide steering angle required and differentialspeed calculationfor each wheel in a car-like mobile robot which gratify for both Ackermann Steering and Four-Wheel steering.The models are simulated and is validated and verified by simulation of different maneuvers for different vehicle speeds in Gazebo before testing on a real vehicle which is later found to match theprecision.
Keywords- ROS, Robot Operating System, steering angle, electronic differential, self-driving car, autonomous robots, car like mobile robot, Instantaneous Centre of Rotation,ICR.
Publication Details
Unique Identification Number - IJEDR1702226Page Number(s) - 1444-1456Pubished in - Volume 5 | Issue 2 | May 2017DOI (Digital Object Identifier) - Publisher - IJEDR (ISSN - 2321-9939)
Cite this Article
Sudhanva S, Dr K R Prakash, Balaji Sunil Kumar, "Implementation of drive kinematics for a self-driving car", International Journal of Engineering Development and Research (IJEDR), ISSN:2321-9939, Volume.5, Issue 2, pp.1444-1456, May 2017, Available at :http://www.ijedr.org/papers/IJEDR1702226.pdf
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