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Model-Based Design and Implementation of Dynamic Controller for Autonomous Guidance of a Scale Automobile

This paper presents the design and implementation of a controller based on the dynamic model of a 1:10-scale automobile that allows autonomous guidance. The control architecture was developed at two different hierarchy levels. The low level corresponds to the control of the traction and the steering servo motors, while the high level corresponds to the controller based on the dynamic model of the automobile. The controller was first tested with different degrees of realism by numerical simulations and then implemented on a real mobile platform under the Robot Operating System framework. Finally, the performance of the controller is evaluated for different reference trajectories.