Abstract
Self-driving vehicles require a sophisticated system of sensors and a real-time controller, which navigates and drives the vehicle toward an intended goal while actively reacting to changes in the environment. For this project, the method of Kinematic Control is applied to the path planning and tracking problems for self-driving car-like robots. A brief overview of navigation concepts used is presented followed by the definition and application of the Kinematic Control Law to autonomous mobile robots. A computer model simulation of the Kinematic Control Law shows the robot trajectory for a differential-drive mobile robot. The Kinematic Control is then implemented in a microprocessor controller for an autonomous car-like robot to demonstrate the effectiveness of the Kinematic Control Law in self-driving vehicle applications.