Towards Longitudinal Control for Over-the-horizon Autonomous Convoying
In a variety of military operations, a convoy of autonomous followers may need to traverse the leader's path without using Global Positioning System (GPS), lane markers/magnets and/or a vision-based vehicle-following system. This can be achieved by using Visual Teach and Repeat (VT and R), whic...
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ndltd-TORONTO-oai-tspace.library.utoronto.ca-1807-429912013-12-06T04:00:15ZTowards Longitudinal Control for Over-the-horizon Autonomous ConvoyingKulani, AnjaniConvoyLongitudinal controlAutonomous vehicles0544In a variety of military operations, a convoy of autonomous followers may need to traverse the leader's path without using Global Positioning System (GPS), lane markers/magnets and/or a vision-based vehicle-following system. This can be achieved by using Visual Teach and Repeat (VT and R), which provides an effective method for autonomous repeating of a previously driven path. This thesis describes the design of a distributed control system that uses the idea behind the VT and R method to allow a convoy of inter-communicable autonomous vehicles to follow a manually-driven lead vehicle's path with a desired inter-vehicle spacing, even when the leader is not in the camera view of the followers. The longitudinal controller is designed for addressing a 1D spacing problem and then combined with a path tracker for tracking a path in a 2D environment. The designed control model is tested in simulations.Francis, BruceBarfoot, Timothy D.2013-112013-11-29T18:03:09ZNO_RESTRICTION2013-11-29T18:03:09Z2013-11-29Thesishttp://hdl.handle.net/1807/42991en_ca |
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en_ca |
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Convoy Longitudinal control Autonomous vehicles 0544 |
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Convoy Longitudinal control Autonomous vehicles 0544 Kulani, Anjani Towards Longitudinal Control for Over-the-horizon Autonomous Convoying |
description |
In a variety of military operations, a convoy of autonomous followers may need to traverse the leader's path without using Global Positioning System (GPS), lane markers/magnets and/or a vision-based vehicle-following system. This can be achieved by using Visual Teach and Repeat (VT and R), which provides an effective method for autonomous repeating of a previously driven path. This thesis describes the design of a distributed control system that uses the idea behind the VT and R method to allow a convoy of inter-communicable autonomous vehicles to follow a manually-driven lead vehicle's path with a desired inter-vehicle spacing, even when the leader is not in the camera view of the followers. The longitudinal controller is designed for addressing a 1D spacing problem and then combined with a path tracker for tracking a path in a 2D environment. The designed control model is tested in simulations. |
author2 |
Francis, Bruce |
author_facet |
Francis, Bruce Kulani, Anjani |
author |
Kulani, Anjani |
author_sort |
Kulani, Anjani |
title |
Towards Longitudinal Control for Over-the-horizon Autonomous Convoying |
title_short |
Towards Longitudinal Control for Over-the-horizon Autonomous Convoying |
title_full |
Towards Longitudinal Control for Over-the-horizon Autonomous Convoying |
title_fullStr |
Towards Longitudinal Control for Over-the-horizon Autonomous Convoying |
title_full_unstemmed |
Towards Longitudinal Control for Over-the-horizon Autonomous Convoying |
title_sort |
towards longitudinal control for over-the-horizon autonomous convoying |
publishDate |
2013 |
url |
http://hdl.handle.net/1807/42991 |
work_keys_str_mv |
AT kulanianjani towardslongitudinalcontrolforoverthehorizonautonomousconvoying |
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1716616570618249216 |