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dc.contributor.authorShoemaker, Adam Kennethen_US
dc.date.accessioned2017-06-13T19:43:37Z
dc.date.available2017-06-13T19:43:37Z
dc.date.issued2016-11-30en_US
dc.identifier.otheretd-12082016-191505en_US
dc.identifier.urihttp://hdl.handle.net/10919/78053
dc.description.abstractA nonholonomic tracking controller is designed and adapted to work with both differential steering and Ackermann steering based platforms whose dynamics are represented using a unicycle model. The goal of this work is to find a relatively simple approach that offers a practical alternative to bulky and expensive algorithms, but still bolsters applicability where many other lightweight algorithms are too lax. The hope is that this alternative will offer a straightforward approach for groups interested in autonomous vehicle research but who do not have the resources or personnel to implement more complex solutions. In the first phase of this work, saturation constraints based on differential drive kinematics are added to ensure that the vehicle behaves intuitively and does not exceed user defined limitations. A new strategy for mapping commands back into a viable envelope is introduced, and the restrictions are accounted for using Lyapunov stability criteria. This stage of work is validated through simulation and experimentation. Following the development of differential drive methods, similar techniques are applied to Ackermann steering kinematic constraints. An additional saturation algorithm is presented, which likewise is accounted for using Lyapunov stability criteria. As with the differential case, the Ackermann design is validated through simulation and experimentation. Overall, the results presented in this work demonstrate that the developed algorithms show significant promise and offer a lightweight, practical solution to the problem of vehicle tracking control.
dc.language.isoen_USen_US
dc.publisherVirginia Techen_US
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectSaturation Constraintsen_US
dc.subjectAckermann Controlen_US
dc.subjectDifferential Steering Controlen_US
dc.subjectMobile Robotsen_US
dc.subjectNonholonomic Systemsen_US
dc.titleNonholonomic Control Utilizing Kinematic Constraints of Differential and Ackermann Steering Based Platformsen_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.committeechairLeonessa, Alexanderen_US
dc.contributor.committeememberSouthward, Steve C.en_US
dc.type.dcmitypeTexten_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-12082016-191505/en_US
dc.contributor.committeecochairKurdila, Andrew J.en_US
dc.date.sdate2016-12-08en_US
dc.date.rdate2016-12-19
dc.date.adate2016-12-19en_US


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