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ThorDrive Inc. is a autonomous driving start up in the Aviation Cargo industry seeking to develop level 4 autonomy for Ground Service Equipment (GSE) tractors at the Cincinnati-Kentucky International Airport.
As a Vehicle Controls Engineer, I was responsible for developing control algorithms to ensure accurate path and velocity following of the vehicle.
Check out below for some demonstrations and details! Visit thordrive.ai for information on their mission.
Velocity tracking
Velocity tracking
Developed a model based PID controller to track velocity and acceleration for Ground Service Equipment Tractors at the CVG Airport runways - which involved following driving conditions set by regulations.
Path Following
Path Following
Implemented and tuned a Stanley - Pure Pursuit lateral controller to navigate complex scenarios such as 'docking' - shown above where tractor and trailers need to align as close as possible to the dock to allow for the transfer of cargo.
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