UC Davis

This thesis will present the development and construction of a scale autonomous vehicle, along with itssoftware development. The platform will serve as a means to test various lateral controllers and compare their results. Using Buckingham Pi Theorem, the platform will be scaled to achieve dynamic similitude with a standard electric vehicle, while utilizing common sensors found in modern autonomous vehicle systems. The software framework will be created using modern software packages, allowing for easy integration with a wide range of useful robotics tool kits and providing the ability to modify the car for various future applications. The study will examine the performance of a variety of control methodologies, with consideration for both their simulated and actual performance on the scaled car.