# Proportional Control with Pole-Placement-Tuned Gains for GPS-Based Waypoint Following, Experimentally Validated Against Classical Methods

## TL;DR

This paper presents a GPS-based method for guiding a mobile platform along a path using proportional control and validates it experimentally.

## Contribution

A novel proportional control method with pole-placement-tuned gains for GPS-based waypoint following is proposed and experimentally validated.

## Key findings

- The goal point following logic was successfully implemented using GPS points from a map API.
- The method was extended to trajectory tracking by using vectors instead of fixed goal points.
- Simulation and real-world experiments confirmed the effectiveness of the proposed approach.

## Abstract

The paper focuses on the goal point following an algorithm design based on the exact Global Positioning System (GPS) points. In order to achieve that, the first GPS point and initial heading angle are previously calculated by recursively adopting GPS points from the Naver Application Programming Interface (API) map. The GPS points are designated as a goal point in order to follow the mobile platform to the generated path. Simulation and experimental results demonstrate that goal point following logic can be implemented based on the generated path achieved from the map. Furthermore, the goal-point-following method is extended to trajectory tracking by defining the vector rather than the designated goal point. The result is demonstrated through simulation and an experiment with the real mobile platform.