Dynamics And Advanced Motion Control Of Off Road Ugvs

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Dynamics and Advanced Motion Control of Off-Road UGVs

Yue Ma
Dynamics and Advanced Motion Control of Off Road UGVs Book PDF

Author : Yue Ma
Publisher : Academic Press
Page : 361 pages
File Size : 44,7 Mb
Release : 2020-08-06
Category : Technology & Engineering
ISBN : 9780128188002

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Dynamics and Advanced Motion Control of Off-Road UGVs by Yue Ma Pdf

Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments. Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way. Gives a comprehensive analysis and introduction to the dynamics and advanced motion control of unmanned ground off-road vehicles Covers key related technology concepts, such as intelligent and electrification of ground vehicles Details the entire control framework of off-road UGVs and the implementation of controller design

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle

Jun NI,Jibin Hu,Changle Xiang
Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book PDF

Author : Jun NI,Jibin Hu,Changle Xiang
Publisher : Morgan & Claypool Publishers
Page : 144 pages
File Size : 42,8 Mb
Release : 2018-01-04
Category : Technology & Engineering
ISBN : 9781681732527

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Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by Jun NI,Jibin Hu,Changle Xiang Pdf

X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle

Jun NI,Jibin Hu,Changle Ziang
Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book PDF

Author : Jun NI,Jibin Hu,Changle Ziang
Publisher : Springer Nature
Page : 130 pages
File Size : 50,6 Mb
Release : 2022-05-31
Category : Technology & Engineering
ISBN : 9783031014963

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Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by Jun NI,Jibin Hu,Changle Ziang Pdf

X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle

Jun Ni,Jibin Hu,Changle Xiang
Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book PDF

Author : Jun Ni,Jibin Hu,Changle Xiang
Publisher : Morgan & Claypool
Page : 130 pages
File Size : 41,6 Mb
Release : 2018-01-04
Category : Technology & Engineering
ISBN : 1681732513

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Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by Jun Ni,Jibin Hu,Changle Xiang Pdf

X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Advanced Autonomous Vehicle Design for Severe Environments

V.V. Vantsevich,M.V. Blundell
Advanced Autonomous Vehicle Design for Severe Environments Book PDF

Author : V.V. Vantsevich,M.V. Blundell
Publisher : IOS Press
Page : 408 pages
File Size : 45,9 Mb
Release : 2015-10-20
Category : Technology & Engineering
ISBN : 9781614995760

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Advanced Autonomous Vehicle Design for Severe Environments by V.V. Vantsevich,M.V. Blundell Pdf

Classical vehicle dynamics, which is the basis for manned ground vehicle design, has exhausted its potential for providing novel design concepts to a large degree. At the same time, unmanned ground vehicle (UGV) dynamics is still in its infancy and is currently being developed using general analytical dynamics principles with very little input from actual vehicle dynamics theory. This technical book presents outcomes from the NATO Advanced Study Institute (ASI) ‘Advanced Autonomous Vehicle Design for Severe Environments’, held in Coventry, UK, in July 2014. The ASI provided a platform for world class professionals to meet and discuss leading-edge research, engineering accomplishments and future trends in manned and unmanned ground vehicle dynamics, terrain mobility and energy efficiency. The outcomes of this collective effort serve as an analytical foundation for autonomous vehicle design. Topics covered include: historical aspects, pivotal accomplishments and the analysis of future trends in on- and off-road manned and unmanned vehicle dynamics; terramechanics, soil dynamic characteristics, uncertainties and stochastic characteristics of vehicle-environment interaction for agile vehicle dynamics modeling; new methods and techniques in on-line control and learning for vehicle autonomy; fundamentals of agility and severe environments; mechatronics and cyber-physics issues of agile vehicle dynamics to design for control, energy harvesting and cyber security; and case studies of agile and inverse vehicle dynamics and vehicle systems design, including optimisation of suspension and driveline systems. The book targets graduate students, who desire to advance further in leading-edge vehicle dynamics topics in manned and unmanned ground vehicles, PhD students continuing their research work and building advanced curricula in academia and industry, and researchers in government agencies and private companies.

Advanced Motion Control and Sensing for Intelligent Vehicles

Li Li,Fei-Yue Wang
Advanced Motion Control and Sensing for Intelligent Vehicles Book PDF

Author : Li Li,Fei-Yue Wang
Publisher : Springer
Page : 448 pages
File Size : 41,6 Mb
Release : 2007-01-04
Category : Technology & Engineering
ISBN : 0387444076

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Advanced Motion Control and Sensing for Intelligent Vehicles by Li Li,Fei-Yue Wang Pdf

This book provides the latest information in intelligent vehicle control and intelligent transportation. Detailed discussions of vehicle dynamics and ground-vehicle interactions are provided for the modeling, simulation and control of vehicles. It includes an extensive review of past and current research achievements in the intelligent vehicle motion control and sensory field, and the book provides a careful assessment of future developments.

Autonomous Vehicles in Support of Naval Operations

National Research Council,Division on Engineering and Physical Sciences,Naval Studies Board,Committee on Autonomous Vehicles in Support of Naval Operations
Autonomous Vehicles in Support of Naval Operations Book PDF

Author : National Research Council,Division on Engineering and Physical Sciences,Naval Studies Board,Committee on Autonomous Vehicles in Support of Naval Operations
Publisher : National Academies Press
Page : 256 pages
File Size : 40,9 Mb
Release : 2005-08-05
Category : Technology & Engineering
ISBN : 9780309181235

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Autonomous Vehicles in Support of Naval Operations by National Research Council,Division on Engineering and Physical Sciences,Naval Studies Board,Committee on Autonomous Vehicles in Support of Naval Operations Pdf

Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector-for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.

Technology Development for Army Unmanned Ground Vehicles

National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology
Technology Development for Army Unmanned Ground Vehicles Book PDF

Author : National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology
Publisher : National Academies Press
Page : 180 pages
File Size : 53,6 Mb
Release : 2003-02-01
Category : Technology & Engineering
ISBN : 9780309086202

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Technology Development for Army Unmanned Ground Vehicles by National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology Pdf

Unmanned ground vehicles (UGV) are expected to play a key role in the Army's Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army's UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.

Mobile Robots in Rough Terrain

Karl Iagnemma,Steven Dubowsky
Mobile Robots in Rough Terrain Book PDF

Author : Karl Iagnemma,Steven Dubowsky
Publisher : Springer Science & Business Media
Page : 136 pages
File Size : 41,7 Mb
Release : 2004-07-08
Category : Technology & Engineering
ISBN : 3540219684

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Mobile Robots in Rough Terrain by Karl Iagnemma,Steven Dubowsky Pdf

This monograph discusses issues related to estimation, control, and motion planning for mobile robots operating in rough terrain, with particular attention to planetary exploration rovers. Rough terrain robotics is becoming increasingly important in space exploration, and industrial applications. However, most current motion planning and control algorithms are not well suited to rough terrain mobility, since they do not consider the physical characteristics of the rover and its environment. Specific addressed topics are: wheel terrain interaction modeling, including terrain parameter estimation and wheel terrain contact angle estimation; rough terrain motion planning; articulated suspension control; and traction control. Simulation and experimental results are presented that show that the desribed algorithms lead to improved mobility for robotic systems in rough terrain.

The DARPA Urban Challenge

Martin Buehler,Karl Iagnemma,Sanjiv Singh
The DARPA Urban Challenge Book PDF

Author : Martin Buehler,Karl Iagnemma,Sanjiv Singh
Publisher : Springer
Page : 628 pages
File Size : 40,8 Mb
Release : 2009-11-26
Category : Technology & Engineering
ISBN : 9783642039911

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The DARPA Urban Challenge by Martin Buehler,Karl Iagnemma,Sanjiv Singh Pdf

By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Search and Rescue Robotics

Multiple Authors
Search and Rescue Robotics Book PDF

Author : Multiple Authors
Publisher : BoD – Books on Demand
Page : 264 pages
File Size : 54,5 Mb
Release : 2017-08-23
Category : Social Science
ISBN : 9789535133759

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Search and Rescue Robotics by Multiple Authors Pdf

In the event of large crises (earthquakes, typhoons, floods, ...), a primordial task of the fire and rescue services is the search for human survivors on the incident site. This is a complex and dangerous task, which - too often - leads to loss of lives among the human crisis managers themselves. This book explains how unmanned search can be added to the toolkit of the search and rescue workers, offering a valuable tool to save human lives and to speed up the search and rescue process. The introduction of robotic tools in the world of search and rescue is not straightforward, due to the fact that the search and rescue context is extremely technology-unfriendly, meaning that very robust solutions, which can be deployed extremely quickly, are required. Multiple research projects across the world are tackling this problem and in this book, a special focus is placed on showcasing the results of the European Union ICARUS project on this subject. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, so that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them in order to learn to use the ICARUS system. The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417. The publishing of this book was funded by the EC FP7 Post-Grant Open Access Pilot programme.

Mobile Robotics

Alonzo Kelly
Mobile Robotics Book PDF

Author : Alonzo Kelly
Publisher : Cambridge University Press
Page : 717 pages
File Size : 48,5 Mb
Release : 2013-11-11
Category : Computers
ISBN : 9781107031159

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Mobile Robotics by Alonzo Kelly Pdf

Introduction -- Math fundamentals -- Numerical methods -- Dynamics -- Optimal estimation -- State estimation -- Control -- Perception -- Localization and mapping -- Motion planning

Autonomous Flying Robots

Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa
Autonomous Flying Robots Book PDF

Author : Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa
Publisher : Springer Science & Business Media
Page : 329 pages
File Size : 50,7 Mb
Release : 2010-09-15
Category : Technology & Engineering
ISBN : 9784431538561

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Autonomous Flying Robots by Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa Pdf

The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

On motion planning and control for truck and trailer systems

Oskar Ljungqvist
On motion planning and control for truck and trailer systems Book PDF

Author : Oskar Ljungqvist
Publisher : Linköping University Electronic Press
Page : 78 pages
File Size : 49,5 Mb
Release : 2019-01-22
Category : Electronic
ISBN : 9789176851302

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On motion planning and control for truck and trailer systems by Oskar Ljungqvist Pdf

During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. Thanks to this technology enhancement, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems (ADAS) and self-driving vehicles. Autonomous vehicles are expected to have their first big impact in closed areas, such as mines, harbors and loading/offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, different truck and trailer systems are used to transport materials. These systems are composed of several interconnected modules, and are thus large and highly unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control frameworks for such systems. First, a cascade controller for a reversing truck with a dolly-steered trailer is presented. The unstable modes of the system is stabilized around circular equilibrium configurations using a gain-scheduled linear quadratic (LQ) controller together with a higher-level pure pursuit controller to enable path following of piecewise linear reference paths. The cascade controller is then used within a rapidly-exploring random tree (RRT) framework and the complete motion planning and control framework is demonstrated on a small-scale test vehicle. Second, a path following controller for a reversing truck with a dolly-steered trailer is proposed for the case when the obtained motion plan is kinematically feasible. The control errors of the system are modeled in terms of their deviation from the nominal path and a stabilizing LQ controller with feedforward action is designed based on the linearization of the control error model. Stability of the closed-loop system is proven by combining global optimization, theory from linear differential inclusions and linear matrix inequality techniques. Third, a systematic framework is presented for analyzing stability of the closed-loop system consisting of a controlled vehicle and a feedback controller, executing a motion plan computed by a lattice planner. When this motion planner is considered, it is shown that the closed-loop system can be modeled as a nonlinear hybrid system. Based on this, a novel method is presented for analyzing the behavior of the tracking error, how to design the feedback controller and how to potentially impose constraints on the motion planner in order to guarantee that the tracking error is bounded and decays towards zero. Fourth, a complete motion planning and control solution for a truck with a dolly-steered trailer is presented. A lattice-based motion planner is proposed, where a novel parametrization of the vehicle’s state-space is proposed to improve online planning time. A time-symmetry result is established that enhance the numerical stability of the numerical optimal control solver used for generating the motion primitives. Moreover, a nonlinear observer for state estimation is developed which only utilizes information from sensors that are mounted on the truck, making the system independent of additional trailer sensors. The proposed framework is implemented on a full-scale truck with a dolly-steered trailer and results from a series of field experiments are presented.

Reducing the Logistics Burden for the Army After Next

National Research Council,Division on Engineering and Physical Sciences,Commission on Engineering and Technical Systems,Committee to Perform a Technology Assessment Focused on Logistics Support Requirements for Future Army Combat Systems
Reducing the Logistics Burden for the Army After Next Book PDF

Author : National Research Council,Division on Engineering and Physical Sciences,Commission on Engineering and Technical Systems,Committee to Perform a Technology Assessment Focused on Logistics Support Requirements for Future Army Combat Systems
Publisher : National Academies Press
Page : 224 pages
File Size : 44,7 Mb
Release : 1999-03-22
Category : Technology & Engineering
ISBN : 9780309173322

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Reducing the Logistics Burden for the Army After Next by National Research Council,Division on Engineering and Physical Sciences,Commission on Engineering and Technical Systems,Committee to Perform a Technology Assessment Focused on Logistics Support Requirements for Future Army Combat Systems Pdf

This study assesses the potential of new technology to reduce logistics support requirements for future Army combat systems. It describes and recommends areas of research and technology development in which the Army should invest now to field systems that will reduce logistics burdens and provide desired capabilities for an "Army After Next (AAN) battle force" in 2025.