Date of Award
Winter 12-7-2023
Access Type
Thesis - Open Access
Degree Name
Master of Science in Mechanical Engineering
Department
Mechanical Engineering
Committee Chair
Marc Compere
Committee Advisor
Jean-Michel Dhainaut
First Committee Member
Christopher Hockley
Second Committee Member
Shuzhen Luo
Third Committee Member
Patrick Currier
College Dean
Jim Gregory
Abstract
The instantaneous turn radius of an Ackermann steering vehicle is the distance to a point in space about which the vehicle will travel in an arc during a turn. There are at least six ways to estimate instantaneous turn radius and each method uses different inputs and has distinct advantages and disadvantages. In this thesis, six different methods will be used to estimate the instantaneous turn radius of a vehicle traveling on a closed circuit. This testing will clarify similarities and differences between the methods. This thesis clarifies which method will be the most appropriate for a given set of available inputs. The testing will be conducted with commonly available sensors. The research in this thesis will allow developers to choose the best method for their sensor suite.
Scholarly Commons Citation
Stutts, Kenneth Gennaro, "Comparison of Methods for Estimating Instantaneous Turn Radius of Ackermann Steering Vehicles" (2023). Doctoral Dissertations and Master's Theses. 781.
https://commons.erau.edu/edt/781
Included in
Navigation, Guidance, Control, and Dynamics Commons, Other Mechanical Engineering Commons
