Autonomous taxiing method and apparatus

One or more processors for autonomously taxiing an aircraft, the one or more processors configured to:

• receive a route intended for the aircraft;
• obtain a route line based on the route;
• determine at least one route feature along the route line;
• determine a deviation of a nosewheel of the aircraft from the route line based on a current position of the aircraft provided by a Global Navigation Satellite System (GNSS) of the aircraft, and a nosewheel position determined by applying, based on an aircraft length, an offset to the current position of the aircraft, and determine whether the offset is calculated using standard spherical-surface formulae based on the aircraft length;
• causing an adjustment of an angle of the nosewheel to correct for deviation from the route based on the deviation of the nosewheel;
• and
• causing an adjustment of the speed of the aircraft based on a current position on the route line and a proximity to the at least one determined route feature;
• wherein the one or more processors include one or more proportional integral derivative (PID) controllers configured to determine one or both of an amount to adjust the nosewheel angle and an amount to adjust the aircraft speed.