Feedback Control of an ROS-Enabled Autonomous Vehicle

B. Abegaz
Loyola University of Chicago,
United States

Keywords: robotic operating system (ROS), feedback control, fuzzy control, autonomous-vehicle, self-driving


The Robotic Operating System (ROS) is a very powerful tool that allows for the development of robotic applications for a wide range of simple to complex functions. In this project, an ROS-based tool has been developed to observe and control the movement of an autonomous vehicle from its current location to a desired location. The project also implemented two different control mechanisms: a closed-loop feedback motion controller and a fuzzy motion controller. The mechanisms provides the autonomous vehicle a framework for controlling its own motion by avoiding congestion and collision, and providing control responses under twenty milliseconds of time duration.