Date of Award:
5-2016
Document Type:
Thesis
Degree Name:
Master of Science (MS)
Department:
Mechanical and Aerospace Engineering
Committee Chair(s)
Rajnikant Sharma
Committee
Rajnikant Sharma
Committee
Rees Fullmer
Committee
David Geller
Abstract
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.
Checksum
ac37aa656ac07c1e5e9d8dd89a868c71
Recommended Citation
Erekson, Ishmaal T., "Modified Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles" (2016). All Graduate Theses and Dissertations, Spring 1920 to Summer 2023. 4919.
https://digitalcommons.usu.edu/etd/4919
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