Vision-Based Vehicle Trajectory Following with Constant Time Delay
Vision-Based Vehicle Trajectory Following with Constant Time Delay
- Neue Suche nach: Goi, Hien K.
- Neue Suche nach: Barfoot, Timothy D.
- Neue Suche nach: Francis, Bruce A.
- Neue Suche nach: Giesbrecht, Jared L.
- Neue Suche nach: Goi, Hien K.
- Neue Suche nach: Barfoot, Timothy D.
- Neue Suche nach: Francis, Bruce A.
- Neue Suche nach: Giesbrecht, Jared L.
A convoy problem is formulated and solved for two four-wheeled vehicles. The task is for the second vehicle to follow the leader's trajectory with a constant time delay. This delayed trajectory can be viewed as the trajectory of a delayed leader . This novel constant-time-delay concept allows for the estimation of the delayed leader's speed and heading using the vehicle kinematics. Decoupled longitudinal and lateral controllers are developed based on the constant-time-delay approach. The lateral controller includes a look-ahead feature to compensate for steering delays. Successful field trials were conducted with full-sized military vehicles on a 1.3-kilometre test track. The tracking errors from differential global positioning system (DGPS) ground truth covering 13 kilometres are presented.
Dokumentinformationen
Vision-Based Vehicle Trajectory Following with Constant Time Delay
2010
11 Seiten
Aufsatz (Konferenz)
Englisch
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