Control and dynamic modeling of an autonomous ground vehicle


  • Mörtberg Helene

Publish date: 2006-01-01

Report number: FOI-R--1911--SE

Pages: 34

Written in: English


The aim of the thesis is to model and simulate a dynamic model and a motion control regulator for an autonomous ground vehicle. The vehicle model used is the so-called Bicycle model and the control regulator uses the Pure Pursuit algorithm. Both are modeled in Modelica. Another vehicle control law, Vector Pursuit, is studied but not modeled. The report describes the theory behind the vehicle model and how it is modeled in Modelica. Furthermore, it illustrates two different motion control laws which are both based on geometric principles. One of them is modeled in Modelica. The vehicle model and the control law are then connected and simulated. These simulations are performed with different paths and with different look ahead distances.