This thesis proposes a modification of trajectory shaping guidance to provide more accurate path convergence in curved paths. The object of this thesis is to apply this simple guidance law to platooning control to ensure all vehicles in the platoon converge to a desired constant radius path at a desired vehicle separation distance. To show the viability of this new guidance law, it is shown mathematically to be exponentially stable. It is also confirmed through simulations and on ground robots.
| Identifer | oai:union.ndltd.org:UTAHS/oai:digitalcommons.usu.edu:etd-5954 |
| Date | 01 May 2016 |
| Creators | Erekson, Ishmaal T. |
| Publisher | DigitalCommons@USU |
| Source Sets | Utah State University |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | All Graduate Theses and Dissertations |
| Rights | Copyright for this work is held by the author. Transmission or reproduction of materials protected by copyright beyond that allowed by fair use requires the written permission of the copyright owners. Works not in the public domain cannot be commercially exploited without permission of the copyright owner. Responsibility for any use rests exclusively with the user. For more information contact Andrew Wesolek (andrew.wesolek@usu.edu). |
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