Engineering Commons^™

Ground Vehicle Platooning Control And Sensing In An Adversarial Environment, Samuel A. Mitchell

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

In the past few years, automated cars have ceased to be part of science fiction, and have instead become a technology that has been implemented, with partially automated systems currently available to customers.

One benefit of automated vehicle technology is the consistent driving patterns due to automation, instead of the inconsistency of distractible humans. Passengers of automated vehicles will be exposed to much less danger than the passengers of human-driven vehicles.

These statements will only be true as automated vehicle systems are scrutinized by experts to find flaws in the system. Security enthusiasts have already hijacked control of an automated …

Modified Trajectory Shaping Guidance For Autonomous Path Following Control Of Platooning Ground Vehicles, Ishmaal T. Erekson

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis proposes a modification of trajectory shaping guidance to provide more accurate path convergence in curved paths. The object of this thesis is to apply this simple guidance law to platooning control to ensure all vehicles in the platoon converge to a desired constant radius path at a desired vehicle separation distance. To show the viability of this new guidance law, it is shown mathematically to be exponentially stable. It is also confirmed through simulations and on ground robots.