{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/45270"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/45270","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control","abstract":"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.","abstract_html":"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.","abstract_has_math":false,"creators":["Truax, Robert D. (Robert Denison)"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["John J. Leonard."],"committee_chairs":[],"committee_members":[],"year":2008,"date_issued":"2008","date_published":"2008","updated_at":"2026-07-22T22:22:24Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["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. 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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."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.B."]},{"key":"dc:title","label":"Title","values":["Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control"]}]}],"canonical_facts":{"dc:contributor.advisor":["John J. Leonard."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:creator":["Truax, Robert D. (Robert Denison)"],"dc:date.accessioned":["2009-04-29T17:18:02Z"],"dc:date.available":["2009-04-29T17:18:02Z"],"dc:date.issued":["2008"],"dc:description":["Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.","Includes bibliographical references."],"dc:description.abstract":["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."],"dc:description.degree":["S.B."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/45270"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["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."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Mechanical Engineering."],"dc:title":["Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:22:24Z"}