Feedback Control for a Path Following Robotic Car Part 4 docx

... 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 ... estimate the curvature On the FLASH car, a camera is mounted in such a way as to capture an image of the road directly in front of the car. The configuration of the camera is shown in Fig....

Ngày tải lên: 10/08/2014, 02:20

... Modeling and Control Algorithm 15 3.2 Control Law 3.2.1 Path Following There are three possible tasks that the car could perform: point-to-point stabilization, path following, and trajectory tracking. ... geometric path. Trajectory tracking is similar to path following, except the car must follow a path at a given speed. In this project, the goal for the car is p...

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

... Low-cost Automated Scaled Highway (FLASH) laboratory at the Virginia Tech Transportation Institute (VTTI). The FLASH lab and the scale model cars contained therein provide a testbed for the small scale ... following, curvature estimation Copyright 2002, Patricia Mellodge Feedback Control for a Path Following Robotic Car Patricia Mellodge (ABSTRACT) This thesis describes t...

Ngày tải lên: 10/08/2014, 02:20

... 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 ... exiting a highway; obstacle detection to locate other cars, pedestrians, animals, etc.; adaptive cruise control to maintain a safe speed; collision avoidance to avoid hitting obstac...

Ngày tải lên: 10/08/2014, 02:20

... initialization involves creating the car and path for animation and placing the car on the path. Next, the car s position on the path is determined and the values needed by the controller are calculated. ... MATLAB simulation program. Patricia Mellodge Chapter 4. Curvature Estimation 34 Figure 4. 20: The transformation of Fig. 4. 18 using the variable row method. Figure 4. 21...

Ngày tải lên: 10/08/2014, 02:20

... same as p. Because the rear sensor array is placed directly below the rear axle, the error obtained from that sensor is taken to be d, the car s lateral displacement from the path. 5.2.3 Heading ... Heading Angle Calculation The controller must know the heading angle, θ p , the angle between the car and the path. The value can be calculated using the displacement errors at the front an...

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

... 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 ... 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 was set to zero. The...

Ngày tải lên: 10/08/2014, 02:20

... Center for Transportation Research Report, 19 94. [6] P. Kachroo and M. Tomizuka, ”Design and Analysis of Combined Longitudinal Traction and Lateral Vehicle Control for Automated Highway Systems ... 337, U.S. Department of Transportation, National Highway Traffic Safety Administration, National Center for Statistics and Analysis, Washington, DC, December 2001. [2] T. B. Reed, ”Discussi...

Ngày tải lên: 10/08/2014, 02:20