Feedback Control for a Path Following Robotic Car Part 7 pptx
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...
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 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 ... 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...
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 ... 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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 3 docx
... 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...
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
... 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...
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 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 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...
Feedback.Control.for.a.Path.Following.Robotic.Car Part 10 pps
... 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...