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INTERNATIONAL JOURNAL OF ENGINEERING DEVELOPMENT AND RESEARCH
(International Peer Reviewed,Refereed, Indexed, Citation Open Access Journal)
ISSN: 2321-9939 | ESTD Year: 2013

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Paper Title
Implementation of drive kinematics for a self-driving car
Authors
  Sudhanva S,  Dr K R Prakash,  Balaji Sunil Kumar

Abstract
The paper spells out the derivation and implementation of mathematical models which provide steering angle required and differentialspeed calculationfor each wheel in a car-like mobile robot which gratify for both Ackermann Steering and Four-Wheel steering.The models are simulated and is validated and verified by simulation of different maneuvers for different vehicle speeds in Gazebo before testing on a real vehicle which is later found to match theprecision.

Keywords- ROS, Robot Operating System, steering angle, electronic differential, self-driving car, autonomous robots, car like mobile robot, Instantaneous Centre of Rotation,ICR.
Publication Details
Unique Identification Number - IJEDR1702226
Page Number(s) - 1444-1456
Pubished in - Volume 5 | Issue 2 | May 2017
DOI (Digital Object Identifier) -   
Publisher - IJEDR (ISSN - 2321-9939)
Cite this Article
  Sudhanva S,  Dr K R Prakash,  Balaji Sunil Kumar,   "Implementation of drive kinematics for a self-driving car", International Journal of Engineering Development and Research (IJEDR), ISSN:2321-9939, Volume.5, Issue 2, pp.1444-1456, May 2017, Available at :http://www.ijedr.org/papers/IJEDR1702226.pdf
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