Sökning: "Thaker Nayl"

Hittade 2 avhandlingar innehållade orden Thaker Nayl.

1. 1. Modeling, control and path planning for an articulated vehicle

   Författare :Thaker Nayl; Kalevi Hyyppä; Luleå tekniska universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Control Engineering;

   Sammanfattning : This licentiate thesis is focusing on the modeling, control and path planning problems for an articulated vehicle. Based on a novel error dynamics modeling approach, the nonlinear kinematic model of the vehicle has been transformed in a linear switching model representation, which is also able to take under consideration the effect of slip angles, a factor that significantly deteriorates the overall system approach. LÄS MER

3. 2. On Autonomous Articulated Vehicles

   Författare :Thaker Nayl; Dimos Dimarogonas; Luleå tekniska universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Control Engineering;

   Sammanfattning : The objective of this thesis is to address the problems of modeling, path planning and path following for an articulated vehicle in a realistic environment and in the presence of multiple obstacles.In greater detail, the problem of the kinematic modeling of an articulated vehicle is revisited through the proposal of a proper model in which the dimensions and properties of the vehicle can be fully described, rather than considering it as a unit point. LÄS MER