Design and Development of Navigation System for an Autonomous Vehicle

An autonomous electric vehicle tracking system with a controller was created to track the referenced trajectory, whereby the electric vehicle will move and change the turning angle so that cars are on that reference route. The feature allows the user to drive the electric vehicle manually by controlling the steering wheel or control steering via joystick to move on the desired path until the end. After that, the kinetic satellite survey for calibrate centimetre level accuracy of Base Station (Reference Station) GNSS Module working as GNSS RTK. Then, drive car on desired route which will using for controlling autonomous vehicle. Finally, rover Station (Moving station GNSS Module On car) will be recording the position of the car in 2D (Latitude, Longitude) as the csv file. This is considered a complete referral path creation. Once a route has been created, location data of the route is used for control steering wheel moving as reference route. Vehicle steering wheel control through PID controller to moving the vehicle and turning the vehicle's steering wheel angle to follow the reference route to the end with constant velocity. In this project will consist of experimenting with manual mode and automatic mode. The experiment will be use the road near football field of KMUTT, Started point is left hand near the building N19 and right hand near field until turn left on junction. Stopped point is left hand parking lot S15 and right hand near the building is S11 according KMUTT Master Plan (Bangmod Campus), which will record the route information to use as a reference path.  In the first experiment manual mode, a car is a mode for controlling the car in the direction that the user wants with joystick, where the experiments in this mode consist of experimenting with the steering turning direction of turn left and turn right. To see the efficiency of the response of the car to the user. In the second experiment automatic mode, an autonomous vehicle moves along the straight route, curved route, and straight route with curves, respectively.