Feedback Control for a Path Following Robotic Car Part 6 pdf

... 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

... velocity ****************************************************************************/ float LateralController(float X2, float X3, float X4, float U1) { static float U2; // steering angular velocity and a very good rock band static float k1,k2,k3; // gains #define lambda 20 k1 ... Until serial data has been received goto MainLp ; Loop here Stop bcf Flag,1 btfss Flag,0 ; if char1 was a Car...

Ngày tải lên: 10/08/2014, 02:20

... intelligent transportation system, lateral control, nonholonomic, path following, curvature estimation Copyright 2002, 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 Virgi...

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 ... small area needed for scale model testing. The FLASH laboratory fulfills this need for scale modeling. The lab itself is located in a 160 0 square foot trailer at VTTI. It contains...

Ngày tải lên: 10/08/2014, 02:20

... 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 car can be located at any position ... 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 L...

Ngày tải lên: 10/08/2014, 02:20

... car corrected itself on the path. Another approach was tried with the dynamic curve estimate. After applying the update equation, (4.10), a was thresholded. If it was greater than 0.5, it was ... calculated curvature was greater than this threshold, c(s) was set to 1. The car was initially placed so that it was starting on the straight section of the path and oriented so that d and θ...

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. ... to that used by the FLASH vehicle. The car s methods of measurement and calculation are the same in the simulation as in the hardware. However, in the simulation, an ideal p...

Ngày tải lên: 10/08/2014, 02:20

... 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 PIC16F874-20/P Manufacturer ... different information to the main processor. The infrared and magnetic sensors indicate where the path is located directly beneath the car. The camera provides path inf...

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...

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 ... speed was again about 1.2 m/s. Patricia Mellodge Chapter 6. Hardware Implementation 74 Figure 6. 9: Flowchart for the recharging system. Patricia Mellodge Chapter 6. Hardwar...

Ngày tải lên: 10/08/2014, 02:20