MATLAB Program for a Vehicle-Tracking Robotic Car Allen Lin Rutgers University NASA SHARP High School Apprenticeship Program mentored by Dr. Baruh

Background Possible use on Moon or Mars Adaptive cruise control MATLAB

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)

Spring and Dashpot Constants 4000 lbs, mini-van size Larger – more accurate Smaller – less force oscillation

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

2–D Model With 1–D 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