Modular Path-Following Control Architecture for Unmanned Ground Vehicles in ROS 2 Environment

The number of highly automated vehicles and mobile robots has recently increased significantly. This trend is also present in the case of agricultural and military vehicles that operate in off-road conditions. These vehicles show a wide range of varieties in size, steering systems, and type of running gear. This research aims to present a modular software architecture with an easily adaptable control algorithm for the path-tracking control of unmanned ground vehicles. The developed system has been applied to an 8x8 test vehicle platform and tested on a predefined trajectory at different traveling speeds. The results show that the system can follow the desired trajectory accurately. © 2025 IEEE.