Inertial Measurement Unit Based Self Guided Steering For Tractor Using Dual Pid Architecture

Abstract: A system (200) for autonomous vehicle steering comprises an Inertial Measurement Unit (IMU) (201) that provides yaw orientation data to a navigation controller (202) via a processor. The navigation controller (202) computes a target wheel angle based on the deviation from the desired orientation and generates a first control signal through a first PID controller (402). This signal is sent to a hydraulic steering unit (203), which actuates the steering linkage. A wheel angle sensor (204) measures the actual wheel angle and feeds it back to the navigation controller (202), where a second PID controller (405) compares it with the target angle and produces a refined control signal. This refined signal is used to adjust the hydraulic steering unit (203) for precise control. The system bypasses manual steering input, relying entirely on real-time sensor feedback and control logic to maintain autonomous steering accuracy (See FIGS. 4–6B).

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