Development of a Rover Swarm Autonomous Driving System with Lateral Control Based on the L1 Controller

Gyeonghun Lim, Sungtae Moon

http://doi.org/10.5626/JOK.2025.52.4.276

With the increasing use of unmanned vehicles in various fields, services such as logistics, surveillance, and reconnaissance are being actively provided. In particular, swarm driving, which involves multiple unmanned vehicles, is gaining attention due to its advantages over single-vehicle operation, such as reduced task time, expanded operational range, and improved system reliability. However, previous studies have often neglected lateral control, resulting in reduced precision in swarm driving, and due to the complexity and high cost of development, most have been conducted in simulation environments. This paper implements precise and stable swarm control by utilizing the lightweight and easy-to-implement L1 controller for lateral control. Furthermore, the proposed swarm driving system was developed using the low-cost, open-source PX4-ROS2 platform, and a Data Distribution Service based communication method was employed for communication between unmanned vehicles. The system was validated in real-world environments, confirming its performance.