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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Statistical Approach To Quantifying Interceptability Of Interaction Scenarios For Testing Autonomous Surface Vessels, Benjamin E. Hargis, Yiannis E. Papelis
Statistical Approach To Quantifying Interceptability Of Interaction Scenarios For Testing Autonomous Surface Vessels, Benjamin E. Hargis, Yiannis E. Papelis
Modeling, Simulation and Visualization Student Capstone Conference
This paper presents a probabilistic approach to quantifying interceptability of an interaction scenario designed to test collision avoidance of autonomous navigation algorithms. Interceptability is one of many measures to determine the complexity or difficulty of an interaction scenario. This approach uses a combined probability model of capability and intent to create a predicted position probability map for the system under test. Then, intercept-ability is quantified by determining the overlap between the system under test probability map and the intruder’s capability model. The approach is general; however, a demonstration is provided using kinematic capability models and an odometry-based intent model.
The Stability And Control Of The Single Track Vehicles, Shyngys Karimov, Martin Corless
The Stability And Control Of The Single Track Vehicles, Shyngys Karimov, Martin Corless
The Summer Undergraduate Research Fellowship (SURF) Symposium
Bicycles, motorcycles and scooters are all examples of the single track vehicles. The dynamics of the single track vehicle involve many degrees of freedom and various modes which govern its performance, making a complicated and interesting research topic. Motorcycle in motion can roll, yaw, and steer about the steering axis. It has three main modes which determine the motion and stability of it, they are weave, capsize, and wobble. The motorcycle performance is limited by the behavior of its modes, and if even one of the modes becomes unstable, the vehicle will roll over, and crash. The goal of this …