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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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....

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20