Comparison of Methods for Estimating Instantaneous Turn Radius of Ackermann Steering Vehicles

<p>The instantaneous turn radius of an Ackermann steering vehicle is the distance to a point in space about which the vehicle will travel in an arc during a turn. There are at least six ways to estimate instantaneous turn radius and each method uses different inputs and has distinct advantages and disadvantages. In this thesis, six different methods will be used to estimate the instantaneous turn radius of a vehicle traveling on a closed circuit. This testing will clarify similarities and differences between the methods. This thesis clarifies which method will be the most appropriate for a given set of available inputs. The testing will be conducted with commonly available sensors. The research in this thesis will allow developers to choose the best method for their sensor suite.</p>

Name thesis:degree_name

Master of Science in Mechanical Engineering

Level thesis:degree_level

Thesis - Open Access

Discipline thesis:degree_discipline

Mechanical Engineering

Year

2023

Author dc:creator

• Stutts, Kenneth Gennaro

• Instantaneous Turn Radius
• Ackermann Steering
• GPS
• Instrumentation
• IMU
• Encoder
• Navigation, Guidance, Control, and Dynamics
• Other Mechanical Engineering

Repository record dc:identifier

https://commons.erau.edu/edt/781

OAI identifier oai:identifier

oai:commons.erau.edu:edt-1812