Show simple item record

dc.contributor.authorHenry, Richard Douglasen_US
dc.date.accessioned2014-03-14T20:50:17Z
dc.date.available2014-03-14T20:50:17Z
dc.date.issued2001-12-18en_US
dc.identifier.otheretd-12182001-232108en_US
dc.identifier.urihttp://hdl.handle.net/10919/36262
dc.description.abstractIntelligent Transportation Systems and supporting technologies have been an active area of research for some time. Human drivers exhibit slower response times and errors in judgment that can have serious adverse affects on traffic flow. These types of errors can be reduced or eliminated from the driving experience by introducing computer control systems into the automotive arena. The purpose of this research was to develop a scale model platform for the rapid prototyping and testing of ITS systems and technologies. Specifically, this body of work was concerned with the development of an automatic headway control system that utilized ultrasonic sensors. This control system was intended to automatically maintain headway distance in an effort to create an adaptive cruise control system for this scale model vehicle. Implementation of such systems could conceivably reduce driver fatigue by removing the burden of maintaining safe following distance from the driver. System dynamics of car-like robots with nonholonomic constraints were employed in this research to create a controller for an autonomous path following vehicle. The application of a working kinematic model describing car-like robotic systems allowed the development of a simple first order controller, as well as a sliding mode controller. Following the development and simulation of these two control laws, the system was applied to the FLASH project scale model vehicle to assess the practical use of the system on a mock highway. A satisfactory result is produced after testing was completed, and the application of such systems to scale model platforms is feasible.en_US
dc.publisherVirginia Techen_US
dc.relation.haspartthesis.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.subjectControlen_US
dc.subjectUltrasounden_US
dc.subjectRoboticen_US
dc.subjectHeadwayen_US
dc.subjectAutomaticen_US
dc.titleAutomatic Ultrasonic Headway Control for a Scaled Robotic Caren_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
dc.contributor.committeechairKachroo, Pushkinen_US
dc.contributor.committeememberVanLandingham, Hugh F.en_US
dc.contributor.committeememberPethtel, Ray D.en_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-12182001-232108/en_US
dc.date.sdate2001-12-18en_US
dc.date.rdate2003-01-14
dc.date.adate2002-01-14en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record