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Lane Following Controller 11/12/2006

Lane Following Controller 11/12/2006. Steven Gray, Nhattrieu Duong, Chris Schantz, Johnny Zhang. Goals and Objectives. Lateral controller: Lane following without GPS Steady State Error < 20 cm Overshoot < 50 cm Valid for speeds up to 15 m/s (Advanced Navigation requirement C.5.).

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Lane Following Controller 11/12/2006

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  1. Lane Following Controller11/12/2006 Steven Gray, Nhattrieu Duong, Chris Schantz, Johnny Zhang

  2. Goals and Objectives • Lateral controller: • Lane following without GPS • Steady State Error < 20 cm • Overshoot < 50 cm • Valid for speeds up to 15 m/s (Advanced Navigation requirement C.5.)

  3. Current Progress • Trajectory Generation

  4. Current Progress • Animation

  5. Model and Gain Calculation • Bicycle model (y, θ) • y = Vsin(θ) V = 3.5m/s • theta = Vtan(φ)/L L = 3.5m • Linearize, find characteristic equation: • Det(sI – A – Bk) = s2 - sk2 - 3.5k1 • Relate to s2 + 2ωcζs + ωc2 • Solve for specified steady state and overshoot

  6. Simulation (Follow) • K1 = -0.2857 K2 = -0.4309

  7. Field Test (Thursday, 11/9/06) • K1 = -0.2857 K2 = -0.4309

  8. Future Work • Implement PID controller in Follow • Improve MATLAB model • Trajectory Generation • Deal with noise • Accommodate rough data

  9. Timeline • 11/19/06 - PI controller implementation • 11/26/06 - Lane data simulator given traj file • Load traj file and generate simulation data • Filter noise and rogue or missing data • 12/02/06 - Improved MATLAB model • More accurate vehicle dynamics • Time delays • 01/03/07 - C++ implementation

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