Frontal and lateral control for unmanned vehicles in urban tracks

This paper presents techniques, related experiments and real results (not simulations) performed with two unmanned vehicles. The test zone is a private circuit with the characteristics of an urban track. The vehicles are common mass-produced cars, provided with automatic actuators operating on the car controls (power-assisted steering and accelerator). These actuators work commanded by a fuzzy logic based control system. The input information to the control system is provided by three elements: high precision GNSS, car tachometer and a wireless network environment.