1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135

80

1.2

1

0.8

0.6

0.4

0.2
0 IMAGE Imgs/thesis.final.w6160.gif
05101520253035

time (s)

IMAGE Imgs/thesis.final.w6161.gif

Figure 5.2- Forward velocity (m/s) versus time for velocity
feedback using various base RV target values.

1.2

1

0.8

0.6

0.4

0.2
0 IMAGE Imgs/thesis.final.w6162.gif

0.10.150.20.250.30.350.40.45

IMAGE Imgs/thesis.final.w6163.gif

Qd
bias

Figure 5.3 - Steady-state velocity vs Qbiasd

IMAGE Imgs/thesis.final.w6164.gif

Figure 5.4 - Acceleration and deceleration

[CONVERTED BY MYRMIDON]