This thesis describes the design of a vision-based vehicle-following system that uses only on-board sensors to enable a convoy of follower vehicles to autonomously track the trajectory of a manually-driven lead vehicle. The tracking is done using the novel concept of a constant time delay, where a follower tracks the delayed trajectory of its leader. Two separate controllers, one linearized about a point ahead and the other linearized about a constant-velocity trajectory, were designed and tested in simulations and experiments. The experiments were conducted with full-sized military vehicles on a 1.3 km test track. Successful field trials with one follower for 10 laps and with two followers for 13.5 laps are presented.
| Identifer | oai:union.ndltd.org:TORONTO/oai:tspace.library.utoronto.ca:1807/18311 |
| Date | 19 January 2010 |
| Creators | Goi, Hien |
| Contributors | Francis, Bruce, Barfoot, Timothy D. |
| Source Sets | University of Toronto |
| Language | en_ca |
| Detected Language | English |
| Type | Thesis |
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