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Control And Waypoint Navigation Of An Autonomous Ground Vehicle
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Book Synopsis Control and Waypoint Navigation of an Autonomous Ground Vehicle by : James Patrick Massey
Download or read book Control and Waypoint Navigation of an Autonomous Ground Vehicle written by James Patrick Massey and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis describes the initial development of the Texas A & M AutonomousGround Vehicle test platform and waypoint following software, including the associatedcontroller design. The original goal of the team responsible for the development of the vehicle was to enter the DARPA Grand Challenge in October 2005. A 2004 Ford F150 4x4 pickup was chosen as the vehicle platform and was modified with a 6" suspensionlift and 35" tires, as well as a commercial drive-by-wire system. The waypoint followingsoftware, the design of which is described in this thesis, is written in C and successfullydrives the vehicle on a course defined by GPS waypoints at speeds up to 50 mph. It uses various heuristics to determine desired speeds and headings and uses control feedback to guide the vehicle towards these desired states. A vehicle dynamics simulator was also developed for software testing. Ultimately, this software will accept commands from advanced obstacle avoidance software so that the vehicle can navigate in true off-road terrain.
Book Synopsis Autonomous Ground Vehicles by : Ümit Özgüner
Download or read book Autonomous Ground Vehicles written by Ümit Özgüner and published by Artech House. This book was released on 2011 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the near future, we will witness vehicles with the ability to provide drivers with several advanced safety and performance assistance features. Autonomous technology in ground vehicles will afford us capabilities like intersection collision warning, lane change warning, backup parking, parallel parking aids, and bus precision parking. Providing you with a practical understanding of this technology area, this innovative resource focuses on basic autonomous control and feedback for stopping and steering ground vehicles.Covering sensors, estimation, and sensor fusion to percept the vehicle motion and surrounding objects, this unique book explains the key aspects that makes autonomous vehicle behavior possible. Moreover, you find detailed examples of fusion and Kalman filtering. From maps, path planning, and obstacle avoidance scenarios...to cooperative mobility among autonomous vehicles, vehicle-to-vehicle communication, and vehicle-to-infrastructure communication, this forward-looking book presents the most critical topics in the field today.
Book Synopsis Intelligent Unmanned Ground Vehicles by : Martial H. Hebert
Download or read book Intelligent Unmanned Ground Vehicles written by Martial H. Hebert and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.
Book Synopsis GPS Based Waypoint Navigation for an Autonomous Guided Vehicle- Bearcat III by :
Download or read book GPS Based Waypoint Navigation for an Autonomous Guided Vehicle- Bearcat III written by and published by . This book was released on 2003 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the major challenges in designing intelligent vehicles capable of autonomous travel on highways is reliable global positioning system (GPS) based navigation. GPS extends use, both as geographic information and navigational system for a ground based mobile robot, Bearcat III. Experiments were conducted in Bearcat III, for waypoint navigation using Garmin GPS 76. RS232 interface connects the GPS system to the main control computer. A mapping program defines a desired route and GPS information was used to update the control points of the mobile robot using a reinforcement learning method. Local position updates were used when found in the environment. Extended use of GPS to local vehicle control that requires more resolution that is available from the raw data using the adaptive control method was significant. The systems were tested in July 2002 at the International Ground Robotics Competition.
Book Synopsis Studies in Autonomous Ground Vehicle Control Systems by : Qi Chen
Download or read book Studies in Autonomous Ground Vehicle Control Systems written by Qi Chen and published by . This book was released on 2007 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: This dissertation studies issues in the implementation of the control system and path-planning algorithms in autonomous ground vehicles (AGV), which are designed for and further developed from both DARPA Grand Challenges in 2004 and 2005. A hierarchical generic control architecture of the AGV control system is presented. In this architecture, the functionalities required for an AGV control system are decomposed into small and well defined tasks which are then carried out by different controllers. As an example, ION, the Intelligent Off-road Navigator, the autonomous vehicle participated in DARPA Grand Challenge 2005, is then introduced. Its control system structure and the hierarchical task decomposition are studied and designed. The discrete-event state machine in ION's navigation module and its physical layout of the vehicle hardware is also discussed. In order to safely, smoothly and efficiently guide the vehicle to the goals, the navigation module in the control system is a very important part. The path-planning algorithms applied in ION's navigation module are then elaborated. We develop a real-time path-planning algorithm utilizing fuzzy logic. Two different fuzzy controller, fuzzy steering controller and fuzzy speed controller, are designed and discussed to ensure the planned path is goal-reaching and obstacle-free. In addition, because of the vehicle's physical constraints, we study the smooth path planning problem for the autonomous ground vehicles and the quartic spline interpolation method is proposed. In order to make sure that the distance between the line segments of the given waypoints and the smooth path is small so that the vehicle stays right on the path, we formulate and study the minimum offset smooth interpolation problem. With the given way points and maximum turning curvature, the minimum offset can be calculated by using quartic splines. In the end we consider the maneuver planning problem. The vector space and state flow of the nonholonomic systems are defined. Three different approaches, Lie algebra approximation, dynamic programming, and nonlinear control method, are presented for different applications.
Book Synopsis Sensing and Control for Autonomous Vehicles by : Thor I. Fossen
Download or read book Sensing and Control for Autonomous Vehicles written by Thor I. Fossen and published by Springer. This book was released on 2017-05-26 with total page 513 pages. Available in PDF, EPUB and Kindle. Book excerpt: This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.
Book Synopsis Path Planning for Autonomous Vehicle by : Umar Zakir Abdul Hamid
Download or read book Path Planning for Autonomous Vehicle written by Umar Zakir Abdul Hamid and published by BoD – Books on Demand. This book was released on 2019-10-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Book Synopsis Autonomous Navigation for a Two-wheeled Unmanned Ground Vehicle by : Tianxiang Lu
Download or read book Autonomous Navigation for a Two-wheeled Unmanned Ground Vehicle written by Tianxiang Lu and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned ground vehicles (UGVs) have been widely used in many areas such as agriculture, mining, construction and military applications. This results from the fact that UGVs can not only be easily built and controlled, but also be featured with high mobility and handling hazardous situations in complex environments. Among the competences of UGVs, autonomous navigation is one of the most challenging problems. This is because that the success in achieving autonomous navigation depends on four factors: Perception, localization, cognition, and proper motion controller. In this thesis, we introduce the realization of autonomous navigation for a two-wheeled differential ground robot under the robot operating system (ROS) environment from both the simulation and experimental perspectives. In Chapter 2, the simulation work is discussed. Firstly, the robot model is described in the unified robot description format (URDF)-based form and the working environment for the robot is simulated. Then we use the \textit{gmapping} package which is one of the packages integrating simultaneous localization and mapping (SLAM) algorithm to build the map of the working environment. In addition, ROS packages including \textit{tf}, \textit{move\_base}, \textit{amcl}, etc., are used to realize the autonomous navigation. Finally, simulation results show the feasibility and effectiveness of the autonomous navigation system for the two-wheeled UGV with the ability to avoid collisions with obstacles. In Chapter 3, we introduce the experimental studies of implementing autonomous navigation for a two-wheeled UGV. The necessary hardware peripherals on the UGV to achieve autonomous navigation are given. The process of implementation in the experiment is similar to that in simulation, however, calibration of several devices is necessary to adapt the scenario in a practical environment. Additionally, a proportional-integral-derivative (PID) controller for the robot base is used to handle the external noise during the experiment. The experimental results demonstrate the success in the implementation of autonomous navigation for the UGV in practice.
Book Synopsis Learning Applied to Ground Vehicles by : Fouad Sabry
Download or read book Learning Applied to Ground Vehicles written by Fouad Sabry and published by One Billion Knowledgeable. This book was released on 2024-05-05 with total page 141 pages. Available in PDF, EPUB and Kindle. Book excerpt: What is Learning Applied to Ground Vehicles The Learning Applied to Ground Vehicles (LAGR) initiative, which was in operation from 2004 until 2008, was designed with the intention of expediting the development of autonomous, perception-based, off-road navigation in robotic unmanned ground vehicles (UGVs). DARPA, which is a research agency under the Department of Defense of the United States of America, provided funding for LAGR. How you will benefit (I) Insights, and validations about the following topics: Chapter 1: DARPA LAGR Program Chapter 2: DARPA Chapter 3: Autonomous robot Chapter 4: Military robot Chapter 5: DARPA Grand Challenge Chapter 6: Unmanned ground vehicle Chapter 7: European Land-Robot Trial Chapter 8: Mobile robot Chapter 9: Crusher (robot) Chapter 10: National Robotics Engineering Center (II) Answering the public top questions about learning applied to ground vehicles. (III) Real world examples for the usage of learning applied to ground vehicles in many fields. Who this book is for Professionals, undergraduate and graduate students, enthusiasts, hobbyists, and those who want to go beyond basic knowledge or information for any kind of Learning Applied to Ground Vehicles.
Book Synopsis Unmanned Aircraft Systems by : Kimon P. Valavanis
Download or read book Unmanned Aircraft Systems written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2008-12-21 with total page 533 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last decade in both military and civilian domains. It is anticipated that civilian applications will be dominant in the future, although there are still barriers to be overcome and technical challenges to be met. Integrating UAS into, for example, civilian space, navigation, autonomy, see-detect-and-avoid systems, smart designs, system integration, vision-based navigation and training, to name but a few areas, will be of prime importance in the near future. This special volume is the outcome of research presented at the International Symposium on Unmanned Aerial Vehicles, held in Orlando, Florida, USA, from June 23-25, 2008, and presents state-of-the-art findings on topics such as: UAS operations and integration into the national airspace system; UAS navigation and control; micro-, mini-, small UAVs; UAS simulation testbeds and frameworks; UAS research platforms and applications; UAS applications. This book aims at serving as a guide tool on UAS for engineers and practitioners, academics, government agencies and industry. Previously published in the Journal of Intelligent and Robotic Systems, 54 (1-3, 2009).
Book Synopsis Safe and Flexible Hybrid Control Architecture for the Navigation in Formation of a Group of Vehicles by : José Miguel Vilca Ventura
Download or read book Safe and Flexible Hybrid Control Architecture for the Navigation in Formation of a Group of Vehicles written by José Miguel Vilca Ventura and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Beyond the interest of robotics laboratories for the development of dedicated strategies for single vehicle navigation, several laboratories around the world are more and more involved in the general challenging field of cooperative multi-robot navigation. In this context, this work deals with the navigation in formation of a group of Unmanned Ground Vehicles (UGVs) dedicated to structured environments. The complexity of this Multi-Robot System (MRS) does not permit the direct use of neither classical perception nor control techniques. To overcome this problem, this work proposes to break up the overall control dedicated to the achievement of the complex task into a group of accurate and reliable elementary behaviors/controllers (e.g., obstacles avoidance, trajectory tracking, target reaching, navigation in formation, formation reconfiguration, etc.). These behaviors are linked to different information given by the sensors to the actions of vehicles. To guarantee the performances criteria (e.g., stability, convergence, state errors) aimed by the control architecture, the potentialities of hybrid controllers (which controlling continuous systems in the presence of discrete events) are considered. This control architecture is validated for a single vehicle to perform safe and flexible autonomous navigation using an appropriate strategy of navigation through suitable set of waypoints. This flexible navigation allows different vehicle maneuvers between waypoints (e.g., target reaching or obstacle avoidance) without using any trajectory planning nor replanning. The designed control law based on Lyapunov synthesis guarantees the convergence to assigned waypoint while performing safe trajectories. Furthermore, an algorithm to select suitable waypoints' positions, named Optimal Multi-criteria Waypoint Selection (OMWS), in structured environments while taking into account the safe and reliable vehicle movements, and vehicle constraints and uncertainties is proposed. Subsequently, the control architecture is extended to Multi-Robot Formation (MRF) using a combination of Leader-Follower and behavior-based approaches. An important cooperative MRS issues in this thesis is the dynamic reconfiguration of the formation according to the context of navigation (e.g., to pass from a triangle configuration towards a line if the width of the navigation way is not sufficient). The proposed Strategy for Formation Reconfiguration (SFR) guarantees the stability and the safety of the MRS at the time of the transitions between configuration (e.g., line towards square, triangle towards line, etc.). Therefore, a safe, reactive and dynamic MRF is obtained. Moreover, the degrees of multi-robot safety, stability and reliability of the system are quantified via suitable metrics. Simulations and experiments using urban vehicles (VIPALABs) of the Institut Pascal laboratory allow to perform exhaustive experiments of the proposed control architecture for the navigation in formation of a group of UGVs.
Book Synopsis GNSS for Vehicle Control by : David M. Bevly
Download or read book GNSS for Vehicle Control written by David M. Bevly and published by Artech House. This book was released on 2010 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: As global navigation satellite systems (GNSS) such as GPS have grown more pervasive, the use of GNSS to automatically control ground vehicles has drawn increasing interest. This cutting-edge resource offers you a thorough understanding of this emerging application area of GNSS. Written by highly-regarded authorities in the field, this unique reference covers a wide range of key topics, including ground vehicles models, psuedolites, highway vehicle control, unmanned ground vehicles, farm tractors, and construction equipment. The book is supported with over 150 illustrations and more than 180 equations.
Book Synopsis Simultaneous Planning and Control for Autonomous Ground Vehicles by : Thomas C. Galluzzo
Download or read book Simultaneous Planning and Control for Autonomous Ground Vehicles written by Thomas C. Galluzzo and published by . This book was released on 2006 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: Motion planning and control for autonomous vehicles are complex tasks that must be done in order for a ground robot to operate in a cluttered environment. This dissertation presents the theory, implementation, and test results for some new and novel Receding Horizon Control (RHC) techniques that allow these tasks to be unified into one. The first new method is called Heuristic Receding Horizon Control (HRHC), and uses a modified A* search to fulfill the online optimization required by RHC. The second is called Dual-Frequency Receding Horizon Control (DFRHC), and is used to simplify the trajectory planning process during the RHC optimization. Both methods are combined together to form a practical implementation, which is discussed in detail. The autonomous ground vehicle, the NaviGator, developed at the Center for Intelligent Machines and Robotics, serves as a platform for the implementation and testing discussed. Finally, data and their analysis are presented. The results obtained help to support the theoretical and practical claims made by this dissertation.
Book Synopsis Design and Development of Advanced Control Techniques for an Unmanned Ground Vehicle by : Amr Mohamed
Download or read book Design and Development of Advanced Control Techniques for an Unmanned Ground Vehicle written by Amr Mohamed and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent years have seen considerable progress towards the goal of autonomous and unmanned ground vehicles which became essential for conducting military operations. These autonomous vehicles have the capability to operate and react to their environments without external control. Autonomous multi-wheeled combat vehicles are crucial for military applications which offer numerous leverages on modern battlefields. Applying autonomy features to such vehicles significantly increases its combat capabilities and expands its applications to work-day and night for risky missions compared with traditional manned ground vehicles. However, it is associated with some challenges because of their large dimension, heavy weight, and complex geometry. Therefore, the development of autonomous combat vehicles has become a cutting-edge research topic in robotics and automotive engineering. This thesis focuses on the control issues related to applying autonomous features for the multi-wheeled combat vehicles due to their significant influence especially when navigating in the presence of obstacles. The primary concern of path planning is to compute collision-free paths. Another equally important issue is to compute a realizable path and, if possible, achieving an optimal path bringing the vehicle to the final position. For these purposes, the developed methodology considers the combination between the optimal control theory using Pontryagin's Minimum Principle (PMP) and Artificial Potential Filed (APF). In addition, a four-axle bicycle model of the actual multi-wheeled combat vehicle considering the vehicle body lateral and yaw dynamics is developed. To generate the vehicle optimal path in real time, an Artificial Neural Network (ANN) model is proposed. The introduced ANN model allows the vehicle to carry out an autonomous navigation in real time with maintaining the path optimality by considering the vehicle parameters in terms of yaw rate, lateral velocity, heading angle and steering angle. Subsequently, a comparative study and performance analysis of the developed optimal path algorithm using PMP with Dynamic Programming (DP) method was carried out in order to guarantee the global optimum solution. Determining the accurate vehicle position offers sufficient capabilities which increase the autonomy and safety features, especially in case of off-road locomotion. In this regard, a hybrid framework for positioning technique based on the integration of GPS/INS for combat vehicles is developed. The developed algorithm is able to provide an accurate and reliable vehicle positioning information, even if the number of visible satellites is less than four, due to the harsh vehicle operation environments. In this work, a scaled multi-wheeled combat vehicle model was developed using system identification methodology. Different system identification methods are considered and applied to solve and identify this problem. An advanced control system in terms of fuzzy logic, robust, and PID control systems are designed. In addition, the Processor-In-the-Loop co-simulation (PIL) is considered, which permits and achieves a more realistic situation where the developed control algorithms running on a dedicated processor. The performance and effectiveness of the developed controllers are evaluated for vehicle heading angle tracking using different predefined heading angles. Furthermore, a comparative evaluation to assess the feasibility of the developed control algorithms is discussed. Finally, it should be stated that this work offers the first attempt in the open literature to control the scaled multi-wheeled combat vehicle using different advanced control techniques such as, fuzzy logic, [...]∞.
Book Synopsis Autonomous Vehicle Navigation by : Lounis Adouane
Download or read book Autonomous Vehicle Navigation written by Lounis Adouane and published by CRC Press. This book was released on 2016-04-21 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Improve the Safety, Flexibility, and Reliability of Autonomous Navigation in Complex EnvironmentsAutonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures explores the use of multi-controller architectures in fully autonomous robot navigation-even in highly dynamic and cluttered environments. Accessible to researchers
Book Synopsis Development of an Autonomous Ground Vehicle and Implementation of a GPS-based Navigation System by : John Christ
Download or read book Development of an Autonomous Ground Vehicle and Implementation of a GPS-based Navigation System written by John Christ and published by . This book was released on 2003 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Unmanned Ground Vehicle Technology by :
Download or read book Unmanned Ground Vehicle Technology written by and published by . This book was released on 2001 with total page 466 pages. Available in PDF, EPUB and Kindle. Book excerpt:
