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dc.contributor.authorAnderson, Daviden_US
dc.date.accessioned2014-03-14T20:31:10Z
dc.date.available2014-03-14T20:31:10Z
dc.date.issued2008-01-15en_US
dc.identifier.otheretd-01292008-102456en_US
dc.identifier.urihttp://hdl.handle.net/10919/31064
dc.description.abstractThere are many forms of speed control for an autonomous ground vehicle currently in development. Most use a simple PID controller to achieve a speed specified by a higher-level motion planning algorithm. Simple controllers may not provide a desired acceleration profile for a ground vehicle. Also, without extensive tuning the PID controller may cause excessive speed overshoot and oscillation. This paper examines an approach that was designed to allow a greater degree of control while reducing the computing load on the motion planning software. The SpAM+PI (Speed-based Acceleration Map + Proportional Integral controller) algorithm outlined in this paper uses three inputs: current velocity, desired velocity and desired maximum acceleration, to determine throttle and brake commands that will allow the vehicle to achieve its correct speed. Because this algorithm resides on an external controller it does not add to the computational load of the motion planning computer. Also, with only two inputs that are needed only when there is a change in desired speed or maximum desired acceleration, network traffic between the computers can be greatly reduced. The algorithm uses splines to smoothly plan a speed profile from the vehicleâ s current speed to its desired speed. It then uses a lookup table to determine the correct pedal position (throttle or brake) using the current vehicle speed and a desired instantaneous acceleration that was determined in the splining step of the algorithm. Once the pedal position is determined a PI controller is used to minimize error in the system. The SpAM+PI approach is a novel approach to the speed control of an autonomous vehicle. This academic experiment is tested using Odin, Team Victor Tangoâ s entry into the 2007 DARPA Urban Challenge which won 3rd place and a $500,000 prize. The evaluation of the algorithm exposed both strengths and weaknesses that guide the next step in the development of a speed control algorithm.en_US
dc.publisherVirginia Techen_US
dc.relation.haspartAnderson-Speed_Control_Thesis_revised.pdfen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectSpAMen_US
dc.subjectPIDen_US
dc.subjectPI Controlleren_US
dc.subjectOdinen_US
dc.subjectvelocity controlen_US
dc.subjectspeed controlen_US
dc.subjectSplinesen_US
dc.subjectTeam Victor Tangoen_US
dc.subjectDARPA Urban Challengeen_US
dc.subjectAutonomousen_US
dc.titleSplined Speed Control using SpAM (Speed-based Acceleration Maps) for an Autonomous Ground Vehicleen_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairReinholtz, Charles F.en_US
dc.contributor.committeememberHong, Dennis W.en_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-01292008-102456/en_US
dc.contributor.committeecochairWicks, Alfred L.en_US
dc.date.sdate2008-01-29en_US
dc.date.rdate2008-04-15
dc.date.adate2008-04-15en_US


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