Experimental Verification of a Control System for Autonomous Navigation⁎⁎The research presented in this paper was carried out as part of the "Dynamics and Control of Autonomous Vehicles meeting the Synergy Demands of Automated Transport Systems (EFOP-3.6.2-16-2017-00016)" project in the framework of the New Széchenyi Plan. The completion of this project is funded by the European Union and co-financed by the European Social Fund.This work was also supported by the National Research Development and Innovation Fund through the project "SEPPAC: Safety and Economic Platform for Partially Automated Commercial vehicles" (VKSZ 14-1-2015-0125).

A flexible architecture is developed with the purpose of supporting education and research on the field of autonomous vehicles. A pure electric vehicle is equipped with on-board computational units, sensors and actuator interfaces. This paper presents the current status of the control system and its validation by means of navigation experiments. With the cascade control architecture, problems of actuator dead-zone, sensor offset errors, path tracking and redesign for obstacle avoidance are addressed.