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Autonomous Unmanned Ground Vehicle (UGV) Follower Design

Chen, Yuanyan
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1470951910

Abstract Details

2016, Master of Science (MS), Ohio University, Electrical Engineering (Engineering and Technology).
A vehicle-to-vehicle follower design based on RC Unmanned Ground Vehicle (UGV) is presented in this thesis. To achieve the desired performance for two-vehicle leader-follower, a 3DOF path trajectory tracking controller with a close-loop guidance controller are used, which consider both the kinematics and the dynamics characteristics of the vehicle model. In our research, we use a Trajectory Linearization Control (TLC) to achieve the path tracking, and a PID controller to guide the preceding vehicle. To this end, the following objectives have been achieved. First, a 3DOF kinematics and dynamics vehicle model has been built. Second, an Adaptive Cruise Control (ACC) Trajectory Linearizaton Control (ACCTLC) scheme is presented. Third, a Vehicle-to-Vehicle following Trajectory Linearizaiton Control is proposed. MATLAB/SIMULINK simulation testing of 3DOF control algorithm is presented, which verifies the algorithm. Future work include implementing the current controller design by installing those algorithms to the real RC car; as well as adding lane constraint to the current work; and adding obstacle avoidance to develop fully autonomous ground vehicle.
Michael Braasch (Advisor)
Jim Zhu (Committee Co-Chair)
75 p.
Electrical Engineering
UGV, Guidance; Navigation and Control; Trajectory Linearization Control; Adaptive Cruise Control; Line of Sight; Trajectory Tracking, PID

Recommended Citations

Citations

  • Chen, Y. (2016). Autonomous Unmanned Ground Vehicle (UGV) Follower Design [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1470951910

    APA Style (7th edition)

  • Chen, Yuanyan. Autonomous Unmanned Ground Vehicle (UGV) Follower Design. 2016. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1470951910.

    MLA Style (8th edition)

  • Chen, Yuanyan. "Autonomous Unmanned Ground Vehicle (UGV) Follower Design." Master's thesis, Ohio University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1470951910

    Chicago Manual of Style (17th edition)

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© 2016, all rights reserved.
This open access ETD is published by Ohio University and OhioLINK.