Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2009
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| Online Access: | http://hdl.handle.net/1721.1/45270 |
| _version_ | 1811096117425733632 |
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| author | Truax, Robert D. (Robert Denison) |
| author2 | John J. Leonard. |
| author_facet | John J. Leonard. Truax, Robert D. (Robert Denison) |
| author_sort | Truax, Robert D. (Robert Denison) |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008. |
| first_indexed | 2024-09-23T16:38:31Z |
| format | Thesis |
| id | mit-1721.1/45270 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T16:38:31Z |
| publishDate | 2009 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/452702019-04-10T14:52:43Z Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control Truax, Robert D. (Robert Denison) John J. Leonard. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008. Includes bibliographical references. In this thesis, the side slip control dynamics of the Land Rover LR3 platform are examined for autonomous control. As autonomy becomes implemented in high speed safety applications, the importance of an accurate model for the vehicle becomes crucial for obstacle avoidance and emergency maneuvers. Testing on public highways under normal operation shows a slip ratio drop to 70% of the no-slip model, indicating a need for model improvement. By defining the slip ratio as a function of velocity with a slope of -0.018 ± 0.002 seconds per meter and a y-intercept of 1.23 + .04, much of this error may be reduced. While a more complex relationship may exist between the slip ratio, vehicle velocity, and the steering command, the noise and inaccuracy of the sensor prevent a more precise analysis. by Robert D. Truax. S.B. 2009-04-29T17:18:02Z 2009-04-29T17:18:02Z 2008 2008 Thesis http://hdl.handle.net/1721.1/45270 310424126 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 25 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Truax, Robert D. (Robert Denison) Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control |
| title | Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control |
| title_full | Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control |
| title_fullStr | Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control |
| title_full_unstemmed | Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control |
| title_short | Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control |
| title_sort | characterization of side slip dynamics in land rover lr3 for improved high speed autonomous control |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/45270 |
| work_keys_str_mv | AT truaxrobertdrobertdenison characterizationofsideslipdynamicsinlandroverlr3forimprovedhighspeedautonomouscontrol |