Design And Implementation of a Navigation System for a Low-Cost Electric Vehicle

The goal of this paper is to present a complete kinematic and dynamic model of an electric vehicle. This vehicle has been mechanically modificated in order to adapt it for the autonomous navigation task. In addition to this, the car positioning system, consisting of a GPS for determining the vehicle position and a digital compass for obtaining its orientation, is also described. This information, together with the desired path, is used by the control system with the purpose of carrying out the autonomous navigation.