GPS Based Location Determination: GPS Feedback Control of Robots

Abstract

The purpose of the research was to integrate the Global Positioning System into motion control of nonholonomic robots using the Motion Description Language (MDLe) developed in the Intelligent Servosystems Laboratory. The robot used in my research is an all terrain robot. An instruction plan was used to move the robot to a goal position using GPS coordinates in feedback control, while at the same time avoiding obstacles on its path. Use of GPS for feedback control is an excellent method for outdoor navigation since it allows the robot to correct its course taking into consideration irregularities in the terrain.