Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles

Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles

This thesis proposes a modification of trajectory shaping guidance to provide more accurate path convergence in curved paths. The object of this thesis is to apply this simple guidance law to platooning control to ensure all vehicles in the platoon converge to a desired constant radius path at a desi...

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Main Author: Erekson, Ishmaal T.
Format: Others
Published: DigitalCommons@USU 2016
Subjects:
autonomous
control
path-following
platoon
stability
Mechanical Engineering
Online Access:https://digitalcommons.usu.edu/etd/4919
https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=5954&context=etd
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spelling ndltd-UTAHS-oai-digitalcommons.usu.edu-etd-59542019-10-13T05:51:14Z Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles Erekson, Ishmaal T. This thesis proposes a modification of trajectory shaping guidance to provide more accurate path convergence in curved paths. The object of this thesis is to apply this simple guidance law to platooning control to ensure all vehicles in the platoon converge to a desired constant radius path at a desired vehicle separation distance. To show the viability of this new guidance law, it is shown mathematically to be exponentially stable. It is also confirmed through simulations and on ground robots. 2016-05-01T07:00:00Z text application/pdf https://digitalcommons.usu.edu/etd/4919 https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=5954&context=etd Copyright for this work is held by the author. Transmission or reproduction of materials protected by copyright beyond that allowed by fair use requires the written permission of the copyright owners. Works not in the public domain cannot be commercially exploited without permission of the copyright owner. Responsibility for any use rests exclusively with the user. For more information contact Andrew Wesolek (andrew.wesolek@usu.edu). All Graduate Theses and Dissertations DigitalCommons@USU autonomous control path-following platoon stability Mechanical Engineering
collection NDLTD
format Others
sources NDLTD
topic autonomous
control
path-following
platoon
stability
Mechanical Engineering
spellingShingle autonomous
control
path-following
platoon
stability
Mechanical Engineering
Erekson, Ishmaal T.
Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles
description This thesis proposes a modification of trajectory shaping guidance to provide more accurate path convergence in curved paths. The object of this thesis is to apply this simple guidance law to platooning control to ensure all vehicles in the platoon converge to a desired constant radius path at a desired vehicle separation distance. To show the viability of this new guidance law, it is shown mathematically to be exponentially stable. It is also confirmed through simulations and on ground robots.
author Erekson, Ishmaal T.
author_facet Erekson, Ishmaal T.
author_sort Erekson, Ishmaal T.
title Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles
title_short Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles
title_full Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles
title_fullStr Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles
title_full_unstemmed Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles
title_sort modified trajectory shaping guidance for autonomous path following control of platooning ground vehicles
publisher DigitalCommons@USU
publishDate 2016
url https://digitalcommons.usu.edu/etd/4919
https://digitalcommons.usu.edu/cgi/viewcontent.cgi?article=5954&context=etd
work_keys_str_mv AT ereksonishmaalt modifiedtrajectoryshapingguidanceforautonomouspathfollowingcontrolofplatooninggroundvehicles
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