Accession Number:

ADA172404

Title:

Adaptive Modeling of the Dynamics of Autonomous Land Vehicles.

Descriptive Note:

Master's thesis,

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

• Kessler,James H. , IV

Report Date:

1986-06-01

Pagination or Media Count:

120.0

Abstract:

This study examines the feasibility of identifying the dynamic parameters of autonomous land vehicles. Initially a simulation study is done using a simplified vehicle model and three different identification schemes. The parameter estimator which has the best characteristics is then used on an improved model to determine if this approach can be used to obtain the parameters of multi-wheeled vehicles. Contents Survey of Previous Work Least-Squares Identifier Kalman Filter Identifier Stochastic Gradient Identifier Improved Model Identification.

Descriptors:

• *PARAMETRIC ANALYSIS
• *IDENTIFICATION SYSTEMS
• *GROUND VEHICLES
• MATHEMATICAL MODELS
• COMPUTERIZED SIMULATION
• SIMULATION
• STOCHASTIC PROCESSES
• MONITORING
• DYNAMICS
• PARAMETERS
• DYNAMIC RESPONSE
• KALMAN FILTERING
• THESES
• ESTIMATES
• IDENTIFICATION
• LEAST SQUARES METHOD
• ADAPTIVE SYSTEMS
• SELF OPERATION
• SIMPLIFICATION
• GRADIENTS

Subject Categories:

• Statistics and Probability
• Surface Transportation and Equipment

Distribution Statement:

APPROVED FOR PUBLIC RELEASE