MATLAB Program for a Vehicle-Tracking Robotic Car

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MATLAB Program for a Vehicle-Tracking Robotic Car

• Allen Lin
• Rutgers University
• NASA SHARP High School Apprenticeship Program
• mentored by Dr. Baruh

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Background

• Possible use on Moon or Mars
• Adaptive cruise control
• MATLAB

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1-D Model
Figure 1 A diagram of the forces acting on the
vehicle in the simulation. The engine force (Fb)
is determined by the forces of spring and dashpot
in between the two cars. Fb m C1 (D1 D2
Ddes) m C2 (V1 V2)
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Spring and Dashpot Constants

• 4000 lbs, mini-van size
• Larger more accurate
• Smaller less force oscillation

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Additions

• Three levels of braking
• Max acceleration
• Wind drag
• Rolling friction steady state error
• Random error in distance apart, linear fit to
  determine velocity

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2D Model

• With 1D model, one variable velocity, one
  degree of freedom position
• With 2-D model, two variables steering angle,
  velocity three degrees of freedom x-position,
  y-position, angle relative to axes