Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 10 of 10 for “"Bicycle Model"”.
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The New Bicycle Model: Introducing Software Considerations Early Into the Systems Engineering Design and Integration Process
… systems engineers have been introduced to the Bicycle Model as a paradigm for designing and developing complex systems that are composed of diverse subsystems that interact and function as a whole system. The Bicycle Model originally utilized the idea that a bicycle integrates electrical and …
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Optimal planning and control for hazard avoidance of front-wheel steered ground vehicles
… of optimal hazard avoidance maneuvers for a bicycle model with front-wheel steering and wheel slip. The planning problem is posed as an optimization problem in which constrained dynamic quantities, such as friction circle utilization, are minimized, while ensuring a minimum clearance from …
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Development of an Automotive Ground Vehicle Platform for Autonomous Urban Operations
… controller and lateral curvature control using a bicycle model. The control algorithms proved capable of controlling the vehicle at a level acceptable for autonomous operations. Communications are implemented using the Joint Architecture for Unmanned Systems (JAUS) using custom messages to enhance …
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An Investigation of the Clothoid Steering Model for Autonomous Vehicles
… This assumption is loosely referred to as the "bicycle model" and it relates directly to the kinematic parameters of the steering mechanism. The second assumption is that the steering actuator can provide a constant steering velocity. In other words, the actuator controlling the steering motion …
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Estimation of vertical load on a tire from contact patch length and its use in vehicle stability control
… of a moving vehicle. A two degree of freedom bicycle model was used for developing the control strategy. A linear quadratic regulator (LQR) was designed for the purpose of controlling the yaw rate and maintaining vehicle stability.
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A LiDAR Based Semi-autonomous Collision Avoidance System and the Development of a Hardware-in-the-Loop Simulator to Aid in Algorithm Development and Human Studies
… avoidance system on a 1/10<sup>th</sup> scale model is presented. In addition, the development of a 2D hardware-in-the-loop simulator with vehicle dynamics based on the bicycle model is described. The semi-autonomous collision avoidance software is fully contained onboard a single-board …
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Fractional Order State Feedback Control for Improved Lateral Stability of Semi-Autonomous Commercial Heavy Vehicles
… is first implemented to a passenger vehicle model with 2-axles based on the well-known “bicycle model”. The model is then extended and applied onto larger three-axle commercial heavy vehicles in platooning operations. To validate the proposed new control algorithm, the system is linearized …
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Test platform design and control of a bicycle-type two-wheeled autonomous vehicle
Bicycle dynamics and behaviors have been vastly studied through modeling and simulation. Due to the complexity, software models are often assumed subjecting to di erent nonholonomic constraints in order to simplify the models and control algorithms. A real life autonomous bicycle faces perturbances …
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Design and development of advanced control techniques for an unmanned ground vehicle
… Potential Filed (APF). In addition, a four-axle bicycle model of the actual multi-wheeled combat vehicle considering the vehicle body lateral and yaw dynamics is developed. To generate the vehicle optimal path in real time, an Artificial Neural Network (ANN) model is proposed. The introduced ANN …
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Development of a multivariate logistic model to predict bicycle route safety in urban areas
… across the nation are working to establish new bicycle routes. During the past two decades, a number of methods have been endorsed for the selection of "suitable" bicycle routes. These methods are limited in that they do not explicitly address bicycle safety nor do they reflect urban conditions. …