TAILIEUCHUNG - Control for a Path Following Robotic Car

Tham khảo sách 'control for a path following robotic car', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Feedback Control for a Path Following Robotic Car Patricia Mellodge Thesis submitted to the Faculty of the Virginia Polytechnic Institute and State University in partial fulfillment of the requirements for the degree of Master of Science in Electrical Engineering Dr. Pushkin Kachroo Chair Dr. A Lynn Abbott Dr. Hugh VanLandingham April 2 2002 Blacksburg Virginia Keywords autonomous vehicle 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 thesis describes the current state of development of the Flexible 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 development stage of intelligent transportation systems ITS . In addition the FLASH lab serves as a home to the prototype display being developed for an educational museum exhibit. This thesis also gives details of the path following lateral controller implemented on the FLASH car. The controller was developed using the kinematic model for a wheeled robot. The global kinematic model was derived using the nonholonomic contraints of the system. This global model is converted into the path coordinate model so that only local variables are needed. Then the path coordinate model is converted into chained form and a controller is given to perform path following. The path coordinate model introduces a new parameter to the system the curvature of the path. Thus it is necessary to provide the path s curvature value to the controller. Because of the environment in which the car is operating the curvature values are known a priori. Several online methods for determining the curvature are developed. A MATLAB simulation environment was created with which to test the above algorithms. The simulation uses the kinematic model

• Cơ khí - Chế tạo máy
• Technologies
• Averaging
• Conservation of mass
• Multiphase flow models
• Multiphase flow notation
• distribution functions
• Network security technologies
• Ebook Network security technologies
• Security in network design
• Basic confidentiality technologies
• Basic authentication technologies
• Basic message integrity technologies
• Solar assisted technologies for cooling and air conditioning
• Solar assisted technologies
• Solar assisted technologies currently
• Solar thermal and solar photovoltaic
• The installed solar assisted technologies currently
• Emerging technologies in surgery
• Emerging technologies
• Organizing surgical simulation centers
• Disruptive technologies
• Telecom Services
• Wireless Technologies
• Fiber—Optical Technologies
• IP Technologies
• Security and Surveillance
• Location Technologies
• Agilent Technologies 8648A B C D Signal Generator
• Service Guide Agilent Technologies 8648A B C D
• Operation Agilent Technologies 8648A B C D
• Motherboard Audio Path
• HF Power Level Accuracy
• LF Output Level
• Advanced learning technologies
• Performance technologies
• Performance management
• Open education
• Technology standardization
• Economic and psychological profile
• Redgram technologies
• Farm university technologies
• Application of technologies
• Market price
• Labour scarcity
• Mango growers
• Recommended technologies in mango
• Recommended technologies
• Adoption of recommended technologies
• Production of mango
• Production technology
• Search of technologies
• Identification of technologies
• Selection of technologies
• Technological innovation
• Higher education
• South Africa
• Learning technologies
• Agroclimatic zone IV
• Adoption of improved maize production technologies
• Improved maize production technologies
• Farmers of agro climatic zone IV
• Maize production technologies
• Lecture Java technologies
• Bài giảng công nghệ Java
• Công nghệ Java
• Content of lesson Java technologies
• Tools of Java technologies
• Advanced Automotive Technologies
• advanced vehicles
• technical potential and cost
• technology price estimates
• electric drivetain technologies
• nature of the technology
• The Grid
• Core Technologies
• detail OGSA
• SR 168 Portlets
• Home Systems
• Semantic Technologies
• Healthcare Technologies
• Home Gateway
• Place Framework
• Related Technologies
• Tumor Markers
• New Technologies
• potential measurements
• Magnetic resonance
• microwave imaging
• Energy Supply
• Energy Technologies
• Environmental Technologies
• Coal Mining
• Nuclear Power
• Regulatory Framework
• Access Techniques
• CDMA Technologies
• CDMA2000 1X
• 1X EV DO
• Access Technology
• UTRA Technologies
• Available Technologies
• Reducing Greenhouse Gas Emissions
• Pulp and Paper Manufacturing Industry
• New health technologies
• Managing access
• The past and potential future impact
• Access and value in pharmaceuticals
• New health technology
• Business intelligence
• Lecture Business intelligence
• Information integration
• Technologies enabling insights
• Business analytics
• Data mining
• Technologies enabling presentation
• Decision making
• Tactical decisions
• Strategic decisions
• Web technologies
• Web programming
• Web applications
• Computer programming
• Web development technologies
• Categories of web applications
• Characteristics of web applications
• Web project management
• Web application development process
• Requirement engineering
• Modeling web applications