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In this study, we design autonomous navigation, guidance and control system for small four-wheel ground vehicle. Small and low-accuracy sensors (low-cost GPS, low-accuracy accelerometers) are only used for navigation and control of the UGV. Firstly, INS/GPS composite navigation system is designed to obtain high-accuracy position and velocity of the vehicle by using low-accuracy sensors. Secondly, velocity and heading controller for the vehicle are designed. Lastly, novel guidance method based on spline interpolation is proposed for precise guidance of the UGV. Whole systems designed in this research are validated by the simulation and experiments.

Autonomous Navigation, Guidance and Control of Small 4-wheel Electric Vehicle