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AUTO 524 Homwork This Homwork will focus on path following for an autonomous vehicle

Electrical Engineering

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AUTO 524 Homwork

This Homwork will focus on path following for an autonomous vehicle. An example of path following using the pure-pursuit method is shown on the mathworks website:

  https://www.mathworks.com/matlabcentral/fileexchange/77798-vehicle-path-tracking-using-purepursuit-controller?s_tid=srchtitle

        You can download the model shown below from the github link on the website:

 

 

            This model is a starting point. You are free to proceed from this model any way you like. You can            improve the controller if you like. You can use the same controller if you like and look at ways to

     choose the look ahead distance. You can change to path to have turns of different radius. You can

   find ways to choose the look ahead based on speed and radius. You can look at different papers

                        and                                                                                                    

  use their ideas as well. , you should be able to quantify the performance of your controllers when

                            you are comparing them to the original                                       

            controller. This means that there should quantities (numbers) that show the success of your           controller (perhaps by looking at              the average error in the path following of the vehicle).

                        NOTE:                                                                                

    1-The answer should be in the form of a report in a Word fileWith writing an introduction                                                                                                             

     2-When making any change to the SIMULINK file, it must be entered into the report with the                                                                              

Parameters file,as well as the scenario files. writing the steps you took step by step(changing  

  1-velocity 2- radius 3-curveture 4-oversteer and understeer 5-looking head distance) and the

 

                        results you obtained with writing the conclusion

            3-You must send me the report with all the simulation files,  parameters and  the scenario files          after modification inMatlab format