This paper proposes the GPS sensor-based steering angle control algorithm for autonomous driving. The proposed method obtains The desired angle for the steering angle of the servo motor, which is acquired by using the GPS data. This angle is used as t...
This paper proposes the GPS sensor-based steering angle control algorithm for autonomous driving. The proposed method obtains The desired angle for the steering angle of the servo motor, which is acquired by using the GPS data. This angle is used as the desired goal of the PD controller for minimizing the error between the desired angle and the steering angle. Finally, the PWM signal obtained from the PD controller is directly applied to the servo motor. To demonstrate the validity of the proposed method, this study implements the experimentations for the waypoint based autonomous driving.