Feedback Control for a Path Following Robotic Car Part 2 ppsx
Feedback.Control.for.a.Path.Following.Robotic.Car Part 2 ppsx
... roadway and several 1/10 scale cars.
Each car is capable of operating manually or autonomously. The cars are described in detail
in Chapter 6.
2. 1 .2 Eduational Exhibit
Currently, an educational exhibit ... Chapter 1. Introduction 2
”platooning” would allow cars to drive at highway speed while only a few feet apart. Since
the electronics on the car can respond faster than a human...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 1 pptx
... intelligent transportation system, lateral control,
nonholonomic, path following, curvature estimation
Copyright 20 02, Patricia Mellodge
Feedback Control for a Path Following Robotic Car
Patricia Mellodge
(ABSTRACT)
This ... FLASH Images 114
vii
Feedback Control for a Path Following Robotic Car
Patricia Mellodge
Thesis submitted to the Faculty of the
Vir...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 3 docx
... the
variables in (3.10) are known or can be measured, the equation can be solved for c(s).
Patricia Mellodge Chapter 3. Mathematical Modeling and Control Algorithm 15
3 .2 Control Law
3 .2. 1 Path Following
There ... moving the car forwards and backwards and turning the wheels,
the car can be placed in the parking space. Ignoring the restrictions caused by external
objects, the...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 4 docx
... was averaged over 10 sample periods. A
threshold of 0.5 was used so that if the calculated curvature was less than 0.5, a c(s) value
of 0 was used. If the calculated curvature was greater than ... the car s frame of reference and the camera’s is shown in Fig. 4.3.
The height of the camera, d, and its tilt angle, α, are known. The tranformation from the
car s frame to the camera’s frame...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 5 ppt
... shown
using the MATLAB animation toolbox.
A flowchart of the program is shown in Fig. 5.1. First, the initialization involves creating
the car and path for animation and placing the car on the path. Next, ... Errors
are also introduced because this method assumes the roadway is a plane perpendicular to
the car s vertical axis. The actual track however, is not flat but contains hil...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 6 pdf
... is taken to be d, the car s lateral displacement from the path.
5 .2. 3 Heading Angle Calculation
The controller must know the heading angle, θ
p
, the angle between the car and the path.
The value ... −x
2
+ r(1 −
2
√
2
) (5.6)
For
−r
√
2
≤ x
1
≤
r
√
2
,
x
2
=
−b
2
±
√
b
2
− 4ac
2a
(5.7)
y
2
= −
r
2
− x
2
2
+ r (5.8)
where the sign of the square root in (5....
Feedback.Control.for.a.Path.Following.Robotic.Car Part 7 pptx
... infrared and magnetic sensors indicate where the path is located directly beneath the
car. The camera provides path information about the area in front of the car. The IR,
magnetic, and camera ... speed control Novak
7.2V NiMH battery Radio Shack
53
Patricia Mellodge Chapter 6. Hardware Implementation 56
Table 6.3: Technical information for the PIC microcontroller.
Device name PIC16...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 8 docx
... straight down at the roadway to determine where the desired path is
underneath the car.
Patricia Mellodge Chapter 6. Hardware Implementation 63
on the DSP and allows for data to be transmitted and ... a variable for
use later. Access to the hardware is done using assembly language functions directly. The
assembly language functions are called from C and the bus data gets put into a...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 9 pptx
... Unfor-
tunately, the car does not have any data logging and the variables that it calculates as it
is driving are not available for analysis. As such, only a qualitative discussion of the car s
performance ... ±1. 125 m
2
.
To get a feel for the controller’s performance, each of these values was hardcoded and the
car was allowed to travel around the track.
First the curvature w...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 10 pps
... 337,
U.S. Department of Transportation, National Highway Traffic Safety Administration,
National Center for Statistics and Analysis, Washington, DC, December 20 01.
[2] T. B. Reed, ”Discussing Potential ... error
Patricia Mellodge Chapter 7. Conclusions 80
Finally, the lateral controller was implemented in hardware. The vehicle platform was de-
scribed and the hardware and software architec...