Feedback Control for a Path Following Robotic Car Part 6 pdf
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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 12 pdf
... 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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 1 pptx
... 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...
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 ... 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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 3 docx
... 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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 4 docx
... 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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 5 ppt
... 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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 7 pptx
... 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...
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...
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 ... 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...