부산대학교 도서관

This paper studies a fuzzy-supervised path tracking system designed and implemented for driving large unmanned vehicles at high speed. Thus, reliability and high performance are very important issues. The control system has two main functions: vehicle position estimation and generation of the steering commands for the vehicle to follow a given path autonomously. Position estimation is based on a differential OPS system with additional functions to improve the reliability. In fact, the highly demanding navigation conditions impose strict requirements on the dynamic behavior. This paper presents a frequency response analysis of the control loop. The results of this analysis correspond to the obtained experimentally with a truck circulating by testing tracks.