In a variety of military operations, a convoy of autonomous followers may need to traverse the leader's path without using Global Positioning System (GPS), lane markers/magnets and/or a vision-based vehicle-following system. This can be achieved by using Visual Teach and Repeat (VT and R), which provides an effective method for autonomous repeating of a previously driven path. This thesis describes the design of a distributed control system that uses the idea behind the VT and R method to allow a convoy of inter-communicable autonomous vehicles to follow a manually-driven lead vehicle's path with a desired inter-vehicle spacing, even when the leader is not in the camera view of the followers. The longitudinal controller is designed for addressing a 1D spacing problem and then combined with a path tracker for tracking a path in a 2D environment. The designed control model is tested in simulations.
Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:OTU.1807/42991 |
Date | 29 November 2013 |
Creators | Kulani, Anjani |
Contributors | Francis, Bruce, Barfoot, Timothy D. |
Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
Language | en_ca |
Detected Language | English |
Type | Thesis |
Page generated in 0.0016 seconds