Ours First approach to use of RTK GPS was not applicable, because of uncertainty of delivery

time; therefore we could not order any item yet. We were planning to share more economical
and convenient GPS with navigation team because of overlap in ours portion of work. We had a
meeting with the navigation team and learned that, they are perusing another approach called
GIS mapping. Since ours first approach was not possible for ours time table, we consider to
work together to develop the map using A geographic information system (GIS).
This system seems like applicable low cost alternative for GPS and the software for developing
the GIS system is available in some labs in Clarkson. We can modify the program for ours
convenient too. GIS is a computer system for capturing, storing, checking, and displaying
data related to positions on Earths surface. Many different forms of data can be entered into
GIS, including the data that are already in map. Furthermore, we can modify the maps with the
information such as roads, hills, holes in a ground; Digital, or computerized data can also be
entered into GIS. Furthermore, data that are already in digital form, such as images taken by
satellites and most tables, can simply be uploaded into GIS.
In this paper, I have also included a possible approach; we can take to control the steering of
ours car, once we developed the system for positioning.
Approach
This system will command a DC motor to move the steering wheel as fast and as accurately as
a human driver does. Firstly, we will build the following system in fig.1.

Figure 1 control system with its input

This system takes the lateral error and the angular error as its only input to manage the
steering, as shown in fig.2. The lateral error is distance of the front of the car from the
reference trajectory and the angular error is the angular deviation, in degrees, of the vehicle
from the reference trajectory. The main system will consist of two loops where, primary loop
determine the target steering wheel position according to GPS coordinates and secondary loop
track the turning of motor to reach the targeted position. Furthermore, furthermore, outer
loop (Steering fuzzy controller)'s objective is to acquire the related input data from sensor and
process this information to generate a reference position to be reached by steering wheel. The
sensor input will be compared with a data from GPS trajectory. The two input variables will be
obtained gathered from this comparison: the lateral and the angular errors from the reference
route. Fuzzy controller manages both inputs to produce targeted steering position. This fuzzy
controller performs the three basic tasks known as fuzzification (the stage in which the input
crisp values are transformed into fuzzy data), inference (the stage where it generating a fuzzy
value for the output variable: the target steering-wheel angle, and defuzzification (where it
transforms this output fuzzy value into crisp data that can be sent to the secondary loop).


Citations
http://hal.archives-ouvertes.fr/docs/00/73/28/80/PDF/Genetic_Fuzzy-
based_Steering_Wheel_Controller_using_a_Mass-Produced_Car.pdf
http://www.car.upm-csic.es/autopia/publicaciones/r2005001.pdf
http://education.nationalgeographic.com/education/encyclopedia/geographic-information-
system-gis/?ar_a=1