Trajectory Planning and Tracking of an Autonomous Robot Vehicle

Abstract

This paper is about trajectory planning and tracking of an autonomous robot vehicle. The autonomous robot was made by transforming a simple RC car into a GPS guided robot. Present and the target locations were given from a computer. Communication between the robot and the computer was done by using RF module. The receiver of the module was kept upon the car and the transmitter was connected to the computer. Tracking was done by the same GPS module that was used to guide the vehicle. All the processes were done using two Arduino Mega 2560 microprocessors. One was used for the transmitter and the other one was used for the receiver and control of the car.