Show simple item record

dc.contributor.advisorBevly, David
dc.contributor.advisorMadsen, Nelsen_US
dc.contributor.advisorHung, Johnen_US
dc.contributor.authorDaily, Roberten_US
dc.date.accessioned2008-09-09T22:37:32Z
dc.date.available2008-09-09T22:37:32Z
dc.date.issued2008-08-15en_US
dc.identifier.urihttp://hdl.handle.net/10415/1222
dc.description.abstractThis research develops a harmonic potential field based path planner and controller. The first component of the dissertation compares several analytical and numerical potential field generation methods. To overcome limitations present in the existing methods, two new methods are developed to meet the specific requirements of this research (generic shape obstacles and an explicit stream function). In particular, an analytic method to combine circles and create generic shaped obstacles is presented. Additionally, a numeric technique to directly calculate a potential field stream function is developed. The second part of this research extends the traditional potential field controller to track a desired streamline as well as the potential field gradient. In addition to tracking a streamline, the reference path is also modified to maximize safety as the vehicle is driving. In particular, a separate harmonic potential field is created for the desired speed. This speed is low near obstacles and high in the open field. The lateral acceleration of the vehicle is also limited by reducing the steer angle and desired speed whenever an acceleration threshold is crossed. Finally, to create a buffer between the vehicle and obstacles, whenever the vehicle is close to an obstacle the desired streamline is shifted away from the obstacles. Together these three real-time modifications to the controller keep the vehicle safely away from obstacles and within its handling limitations.en_US
dc.language.isoen_USen_US
dc.subjectMechanical Engineeringen_US
dc.titleStream Function Path Planning and Control for Unmanned Ground Vehiclesen_US
dc.typeDissertationen_US
dc.embargo.lengthNO_RESTRICTIONen_US
dc.embargo.statusNOT_EMBARGOEDen_US


Files in this item

Show simple item record