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Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses several critical modeling, design and control objectives for ground vehicles. One central objective is formation of multi-robot systems, particularly, longitudinal control of platoon of ground vehicle. In this thesis, the author use low-cost ground robot platform shows that with leader information, the platoon controller can have better performance than one without it.Based on measurement from multiple vehicles, motor-wheel system dynamic model considering gearbox transmission has been developed. Noticing the difference between on ground vehicle behavior and off-ground vehicle behavior, on ground vehicle-motor model considering friction and battery internal resistance has been put forward and experimentally validated by multiple same type of vehicles. Then simplified longitudinal platoon model based on on-ground test were used as basis for platoon controller design.Hardware and software has been updated to facilitate the goal of control a platoon of ground vehicles. Based on previous work of Lin on low-cost differential-drive(DD) RC vehicles called Thunder Tumbler, new robot platform named EnhancedThunder Tumbler (ETT 2) has been developed with following improvement: (1) optical wheel-encoder which has 2.5 times higher resolution than magnetic based one,(2) BNO055 IMU can read out orientation directly that LSM9DS0 IMU could not,(3) TL-WN722N Wifi USB Adapter with external antenna which can support more stable communication compared to Edimax adapter, (4) duplex serial communication between Pi and Arduino than single direction communication from Pi to Arduino, (5) inter-vehicle communication based on UDP protocol. All demonstrations presented using ETT vehicles. The following summarizes key hardware demonstrations: (1) cruise-control along line, (2) longitudinal platoon control based on local information (ultrasonic sensor) without inter-vehicle communication, (3) longitudinal platoon control based on local information (ultrasonic sensor) and leader information (speed). Hardware data/video is compared with, and corroborated by, model-based simulations. Platoon simulation and hardware data reveals that with necessary information from platoon leader, the control effort will be reduced and space deviation be diminished among propagation along the fleet of vehicles. In short, many capabilities that are critical for reaching the longer-term FAME goal are demonstrated.
There are numerous studies that suggest efficiency and security of the transportation system may increase in the future through driving cars in platoons. It can be achieved by taking advantage of the rapid development of communication technology and vehicle control. A platoon model based on appropriate control rules is required to maintain the structure of the vehicle fleet and take full benefit of platoon operations, even if vehicles in a platoon can share data via V2/V communication. This study introduces two platoon models: a basic or kinematic model in which the automobile is modeled as a triple integrator and a comprehensive dynamic model that incorporates all vehicle forces and resistances. A modified headway-based distance longitudinal control policy was applied to both models to preserve stability and minimize errors in inter-vehicle spacing. MATLAB/Simulink was used to create, simulate, and evaluate the platoon models. Simulation is performed for the basic model so inter-vehicle spacing can be minimized by suggested model. Moreover, the speed of leader vehicle can be tracked, and adjustments can be made in the speed and acceleration after defining the stability condition and estimating the control law parameter by all of the platoon vehicles. When compared to those based on earlier work, the basic model's outcomes are shown to be more expressive and meaningful. The suggested model also allows for modifying factors like the minimum space between vehicles, the starting positions of the platoon's vehicles, and the leader vehicle's speed. A mathematical model was created that considers all of the vehicle attributes and resistance forces to simulate the real-world scenario. The basic Simulink model is then updated to account for these traits and forces. The behavior of the platoon's inter-vehicle distances was then examined and simulated under various vehicle parameters and when the vehicles were subjected to various environmental and disturbance scenarios using a MATLAB program. The findings of simulation runs are positive since they reveal that the suggested model is resilient to the investigated vehicle parameters and outside disturbances. The key finding is that various highway and vehicle characteristics may be related to inter-vehicle distances. Hence, these findings can pave the way for the effective implementation of autonomous vehicles and will also enhance their performance.
In the near future, we will witness vehicles with the ability to provide drivers with several advanced safety and performance assistance features. Autonomous technology in ground vehicles will afford us capabilities like intersection collision warning, lane change warning, backup parking, parallel parking aids, and bus precision parking. Providing you with a practical understanding of this technology area, this innovative resource focuses on basic autonomous control and feedback for stopping and steering ground vehicles.Covering sensors, estimation, and sensor fusion to percept the vehicle motion and surrounding objects, this unique book explains the key aspects that makes autonomous vehicle behavior possible. Moreover, you find detailed examples of fusion and Kalman filtering. From maps, path planning, and obstacle avoidance scenarios...to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this forward-looking book presents the most critical topics in the field today.
Ground Vehicle Dynamics is devoted to the mathematical modelling and dynamical analysis of ground vehicle systems composed of the vehicle body, the guidance and suspension devices and the corresponding guideway. Automobiles on uneven roads and railways on flexible tracks are prominent representatives of ground vehicle systems. All these different kinds of systems are treated in a common way by means of analytical dynamics and control theory. In addition to a detailed modelling of vehicles as multibody systems, the contact theory for rolling wheels and the modelling of guideways by finite element systems as well as stochastic processes are presented. As a particular result of this integrated approach the state equations of the global systems are obtained including the complete interactions between the subsystems considered as independent modules. The fundamentals of vehicle dynamics for longitudinal, lateral and vertical motions and vibrations of automobiles and railways are discussed in detail.