Date of Award:

2016

Document Type:

Thesis

Degree Name:

Master of Science (MS)

Department:

Mechanical and Aerospace Engineering

Advisor/Chair:

Rajnikant Sharma

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

893f7e23417de9487a3e608dd96a18e5

Share

COinS