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Lane Following Controller 11/13/2006

Lane Following Controller 11/13/2006. Team 1: Steven Gray, Chris Schantz, Johnny Zhang Team 2: [Mohamed Aly], [Gustavo Costa], Nhattrieu (Tom) Duong. Goals and Objectives. Lateral controller: Lane following without GPS Steady State Error < 20 cm Overshoot < 50 cm

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Lane Following Controller 11/13/2006

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  1. Lane Following Controller11/13/2006 Team 1: Steven Gray, Chris Schantz, Johnny Zhang Team 2: [Mohamed Aly], [Gustavo Costa], Nhattrieu (Tom) Duong

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

  3. Current Progress - Team 1 • Trajectory Generation

  4. Current Progress - Team 1 • Animation

  5. Current Progress - Team 2 • Trajectory Generation (Take 2) y Alice frame Trajectory waypoints x rAlice(tn) rn(tn) y0 rn,0 x0 Boundary data points Stationary frame

  6. Model and Gain Calculation - Team 1 • 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

  7. Simulation (Follow) - Team 1 • K1 = -0.2857 K2 = -0.4309

  8. Field Test (Thu, 11/9/06) - Team 1 • K1 = -0.2857 K2 = -0.4309

  9. PI Controller (Simulation) - Team 2

  10. Field Test (Thu, 11/9/06) - Team 2

  11. Future Work • Implement PID controller in Follow • Improve MATLAB model • Add time delay • Add disturbances • Relativistic effects • Trajectory Generation • Deal with noise • Accommodate rough data

  12. 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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