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ETD Abstract Container

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Controlled Autonomous Vehicle Drift Maneuvering

Kaba, Mohamed
http://rave.ohiolink.edu/etdc/view?acc_num=osu1557195355216909

Abstract Details

2019, Master of Science, Ohio State University, Electrical and Computer Engineering.
Drifting is an extreme maneuver which brings a vehicle into a relatively unstable and often hard to control configuration. Yet, it is an often necessary maneuver completed by professional race car drivers; or to a limited extent, regular drivers aiming to regain control of their vehicle during bad road/weather conditions (e.g. vehicle skidding during snow). The study of autonomous vehicles during drifting can give insights into how to improve standard safety systems for both modern automobiles, as well as future autonomous vehicles, which must self-maneuver through such "obstacles". As complex as vehicle drifting is to maneuver, it is as complex (from a mathematical standpoint) to design drift trajectories/sequences for autonomous vehicles to track. The dynamic behavior of a vehicle during drifting is highly nonlinear; and nonlinear systems in general are typically hard to control. In this work, a set of scheduled linear controllers are used to give a vehicle the ability to autonomously drift itself about a globally planned path made using clothoids. This allows for the use of control methods such as LQR (Linear Quadratic Regulation) and PID (Proportional Integral Derivative) control in designing drift controllers capable of drifting and path following. The autonomous vehicle drifting algorithms are simulated using MATLAB/Simulink. They are also tested on a modified 1:28 scale car, where a motion capture system is used for location tracking. Lastly, vehicle dynamics' system identification is covered in this work as well.
Zhang Wei (Advisor)
Fiorentini Lisa (Committee Member)
123 p.
Electrical Engineering
Vehicle Dynamics; System Identification; Control Theory;

Recommended Citations

Citations

  • Kaba, M. (2019). Controlled Autonomous Vehicle Drift Maneuvering [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1557195355216909

    APA Style (7th edition)

  • Kaba, Mohamed. Controlled Autonomous Vehicle Drift Maneuvering. 2019. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1557195355216909.

    MLA Style (8th edition)

  • Kaba, Mohamed. "Controlled Autonomous Vehicle Drift Maneuvering." Master's thesis, Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1557195355216909

    Chicago Manual of Style (17th edition)

osu1557195355216909
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© 2019, some rights reserved.Creative Commons License Controlled Autonomous Vehicle Drift Maneuvering by Mohamed Kaba is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by The Ohio State University and OhioLINK.