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Platform Development And Path Following Controller Design For Full-Sized Vehicle Automation, Austin D. Costley
Platform Development And Path Following Controller Design For Full-Sized Vehicle Automation, Austin D. Costley
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
The purpose of this thesis is to discuss the design and development of a platform used to automate a stock 2013 Ford Focus EV. The platform is low-cost and open-source to encourage collaboration and provide a starting point for fellow researchers to advance the work in the field of automated vehicle control. This thesis starts by discussing the process of obtaining control of the vehicle by taking advantage of internal communication protocols. The controller design process is detailed and a description of the components and software used to control the vehicle is provided. The automated system is tested and the …