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 PIC...

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

... 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

... 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...

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... 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...

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... 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...

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... 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...

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... 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...

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... 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 DSP was chosen over a microcontroller for the car because DSPs are well suited for numerically intensive applications such as this one. Additionally, C compilers are available...

Ngày tải lên: 10/08/2014, 02:20

... 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 architecture detailed. ... IEEE Trans. on Automatic Control, vol. 40, no.1, pp. 64 -77 , 1995. 82 Patricia Mellodge Chapter 7. Conclusions 81 7. 2.3 Hardware As stated above, the car must undergo a processor u...

Ngày tải lên: 10/08/2014, 02:20