Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2008

Author dc:creator

• Truax, Robert D. (Robert Denison)

Advisor dc:contributor.advisor

• John J. Leonard.

• Mechanical Engineering.

Statement 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.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/45270

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/45270