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This work develops a real-time algorithm to localize a vehicle in the direction of travel without the use of GPS. The inputs to the algorithm include a terrain map of road grade and pitch measurements from an in-vehicle pitch sensor. Localization is achieved in real-time using a particle filter described in detail in this work. Simulations and experiments(More)
Electrical energy storage is a central element to any electric-drivetrain technology - whether hybrid-electric, fuel-cell, or all-electric. A particularly cost-sensitive issue with energy storage is the high replacement cost of depleted battery banks. One possibility to ease the power burden on batteries and fuel cells is to use ultra-capacitors as(More)
This work presents results of an ongoing investigation into models and control strategies suitable to prevent vehicle rollover due to untripped driving maneuvers. For use as a design model for controller synthesis, low-order models are sought that have sufficient complexity to characterize a vehicle's roll behavior, yet are not unnecessarily complex or(More)
A simple method is presented to reduce the number of scheduling parameters for gain-scheduled controller implementation. The method is based on careful reformulation of the dynamic representation using dimensionless parameters. Parameter re-scaling is necessary to transform from one unit system to another, and this work utilizes unit transformations(More)
  • S. Brennan
  • Proceedings of the 2004 American Control…
  • 2004
Previous work has demonstrated that dynamic matching and similitude between controllers can be achieved for planar dynamic motion by careful construction of the test vehicle and testing under conditions that match selected parameters. Central to this analysis was the use of the Buckingham Pi theorem as applied to the planar vehicle dynamics. Increasingly,(More)
To investigate the standardization of ground robot endurance as defined by the National Institute of Standard and Technology (NIST), this paper presents the development and applications of a novel robot tracking system that uses three overhead cameras to record the number of laps and the distance traveled by a robot over the duration of a test. The computer(More)
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