Splined Speed Control using SpAM (Speed-based Acceleration Maps) for an Autonomous Ground Vehicle

Splined Speed Control using SpAM (Speed-based Acceleration Maps) for an Autonomous Ground Vehicle

There are many forms of speed control for an autonomous ground vehicle currently in development. Most use a simple PID controller to achieve a speed specified by a higher-level motion planning algorithm. Simple controllers may not provide a desired acceleration profile for a ground vehicle. Also,...

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Bibliographic Details
Main Author: Anderson, David
Other Authors: Mechanical Engineering
Format: Others
Published: Virginia Tech 2014
Subjects:
SpAM
PID
PI Controller
Odin
velocity control
speed control
Splines
Team Victor Tango
DARPA Urban Challenge
Autonomous
Online Access:http://hdl.handle.net/10919/31064
http://scholar.lib.vt.edu/theses/available/etd-01292008-102456/

Internet

http://hdl.handle.net/10919/31064
http://scholar.lib.vt.edu/theses/available/etd-01292008-102456/

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