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MATLAB Program for a Vehicle-Tracking Robotic Car

MATLAB Program for a Vehicle-Tracking Robotic Car. Allen Lin Rutgers University NASA SHARP High School Apprenticeship Program mentored by Dr. Baruh. Background. Possible use on Moon or Mars Adaptive cruise control MATLAB. 1-D Model.

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MATLAB Program for a Vehicle-Tracking Robotic Car

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  1. MATLAB Program for a Vehicle-Tracking Robotic Car Allen Lin Rutgers University NASA SHARP High School Apprenticeship Program mentored by Dr. Baruh

  2. Background • Possible use on Moon or Mars • Adaptive cruise control • MATLAB

  3. 1-D Model Figure 1: A diagram of the forces acting on the vehicle in the simulation. The engine force (Fb) is determined by the forces of spring and dashpot in between the two cars. Fb = m * C1 * (D1 – D2 – Ddes) + m * C2 * (V1 – V2)

  4. Spring and Dashpot Constants • 4000 lbs, mini-van size • Larger – more accurate • Smaller – less force oscillation

  5. Additions • Three levels of braking • Max acceleration • Wind drag • Rolling friction – steady state error • Random error in distance apart, linear fit to determine velocity

  6. 2–D Model • With 1–D model, one variable: velocity, one degree of freedom: position • With 2-D model, two variables: steering angle, velocity; three degrees of freedom: x-position, y-position, angle relative to axes

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