Date of Award:
Master of Science (MS)
Mechanical and Aerospace Engineering
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.
Erekson, Ishmaal T., "Modiﬁed Trajectory Shaping Guidance for Autonomous Path Following Control of Platooning Ground Vehicles" (2016). All Graduate Theses and Dissertations. 4919.
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