ANALYSIS OF ROBOTIC VEHICLE STEERING AND CONTROLLER DELAY

Robotic vehicles are driving at highway speeds using computer vision and other methods to detect the vehicle's position on the roadway. Several factors affect system performance and stability . In this paper a simple vehicle and path following model is developed. The effect of vehicle understeer, control delay, and other control parameters is investigated and their effect on stability is presented. A method that uses navigation sensors to compensate for computation delay is presented.