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Analysis of Robotic Vehicle Steering and Controller Delay

Published

Author(s)

Karl Murphy

Abstract

Robotic vehicles are driving at highway speeds using computer vision and other methods to detect the vehicle¿s position on the roadway. Several factors affect system performance and stability. In this paper a simple vehicle and path following model is developed. The effect of vehicle understeer, control delay, and other control parameters is investigated and their effect on stability is presented. A method that uses navigation sensors to compensate for computation delay is presented.
Proceedings Title
To be presented at the 5th International Symposium on Robotics and Manufacturing
Conference Dates
August 15-17, 1994
Conference Location
Maui, HI
Conference Title
5th International Symposium on Robotics and Manufacturing

Keywords

autonomous vehicles, pure delay, pure pursuit, robotics vehicles, steering understeer

Citation

Murphy, K. (1994), Analysis of Robotic Vehicle Steering and Controller Delay, To be presented at the 5th International Symposium on Robotics and Manufacturing, Maui, HI, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820485 (Accessed June 23, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created August 17, 1994, Updated February 17, 2017