Mellodge, Abbott, Vanlandingham - 2002 - Feedback Control for a Path Following Robotic Car Feedback Control for a Path Following Robotic

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1、FeedbackControlforaPathFollowingRoboticCarPatriciaMellodgeThesissubmittedtotheFacultyoftheVirginiaPolytechnicInstituteandStateUniversityinpartialfulfillmentoftherequirementsforthedegreeofMasterofScienceinElectricalEngineeringDr.PushkinKachroo,ChairDr.AL

2、ynnAbbottDr.HughVanLandinghamApril2,2002Blacksburg,VirginiaKeywords:autonomousvehicle,intelligenttransportationsystem,lateralcontrol,nonholonomic,pathfollowing,curvatureestimationCopyright2002,PatriciaMellodgeFeedbackControlforaPathFollowingRoboticCarP

3、atriciaMellodge(ABSTRACT)ThisthesisdescribesthecurrentstateofdevelopmentoftheFlexibleLow-costAutomatedScaledHighway(FLASH)laboratoryattheVirginiaTechTransportationInstitute(VTTI).TheFLASHlabandthescalemodelcarscontainedthereinprovideatestbedforthesmall

4、scaledevelopmentstageofintelligenttransportationsystems(ITS).Inaddition,theFLASHlabservesasahometotheprototypedisplaybeingdevelopedforaneducationalmuseumexhibit.ThisthesisalsogivesdetailsofthepathfollowinglateralcontrollerimplementedontheFLASHcar.Theco

5、ntrollerwasdevelopedusingthekinematicmodelforawheeledrobot.Theglobalkinematicmodelwasderivedusingthenonholonomiccontraintsofthesystem.Thisglobalmodelisconvertedintothepathcoordinatemodelsothatonlylocalvariablesareneeded.Thenthepathcoordinatemodelisconv

6、ertedintochainedformandacontrollerisgiventoperformpathfollowing.Thepathcoordinatemodelintroducesanewparametertothesystem:thecurvatureofthepath.Thus,itisnecessarytoprovidethepath’scurvaturevaluetothecontroller.Becauseoftheenvironmentinwhichthecarisopera

7、ting,thecurvaturevaluesareknownapriori.Severalonlinemethodsfordeterminingthecurvaturearedeveloped.AMATLABsimulationenvironmentwascreatedwithwhichtotesttheabovealgorithms.Thesimulationusesthekinematicmodeltoshowthecar’sbehaviorandimplementsthesensorsand

8、controllerascloselyaspossibletotheactualsystem.Theimplementationofthelateralcontrollerinhardwareisdiscussed.Thevehicleplatformisdescribedandthehardwareandsoftwarearchitecturedetailed.Thecardescribediscapableofoperatingmanuallyandautonom