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Author : Zhejun Fan
Publisher :
ISBN 13 :
Total Pages : 324 pages
Book Rating : 4.3/5 (91 download)
Download or read book Modeling and Control of Autonomous Tracked Vehicles written by Zhejun Fan and published by . This book was released on 1995 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Ramón González
Publisher : Springer Science & Business Media
ISBN 13 : 3319060384
Total Pages : 122 pages
Book Rating : 4.3/5 (19 download)
Download or read book Autonomous Tracked Robots in Planar Off-Road Conditions written by Ramón González and published by Springer Science & Business Media. This book was released on 2014-03-22 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques. Keywords: longitudinal slip, visual odometry, slip-compensation control, robust predictive control, trajectory tracking. Related subjects: Robotics – Mechanical Engineering – Mechanics – Computer Science – Artificial Intelligence - Applications
Author : Anh Tuan Le
Publisher :
ISBN 13 :
Total Pages : 416 pages
Book Rating : 4.:/5 (222 download)
Download or read book Modelling and Control of Tracked Vehicles written by Anh Tuan Le and published by . This book was released on 1999 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Levent Guvenc
Publisher : John Wiley & Sons
ISBN 13 : 1119747961
Total Pages : 256 pages
Book Rating : 4.1/5 (197 download)
Download or read book Autonomous Road Vehicle Path Planning and Tracking Control written by Levent Guvenc and published by John Wiley & Sons. This book was released on 2021-12-06 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
Author : Thor I. Fossen
Publisher : Springer
ISBN 13 : 3319553720
Total Pages : 513 pages
Book Rating : 4.3/5 (195 download)
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.
Author : Javad Taghia
Publisher : Springer Nature
ISBN 13 : 303042359X
Total Pages : 137 pages
Book Rating : 4.0/5 (34 download)
Download or read book Applied Guidance Methodologies for Off-road Vehicles written by Javad Taghia and published by Springer Nature. This book was released on 2020-05-01 with total page 137 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides methodologies for designing and implementing guidance algorithms for autonomous vehicles. These algorithms make important decision regarding how to steer and drive a ground vehicle in order to safely stay on an intended path, thereby making the vehicle driverless. The design tools provided in this book enable the reader to develop highly practical and real-world implementable guidance algorithms that will deliver high-accuracy driving for field vehicles. (They are equally applicable for on-road vehicles.) The book covers a variety of vehicle types, including wheeled vehicles, tracked vehicles, wheeled and tracked vehicles towing trailers, and four-wheel-steer and four-wheel-drive vehicles. It also covers active trailers that are driven and steered. Vehicles used in agriculture, mining and road construction are subjected to unpredictable and significant disturbances. The robust control methodologies presented can successfully compensate for these disturbances, as confirmed by the experimental results presented. Though the majority of the methodologies presented are based on sliding-mode controllers, other robust control methodologies are also discussed. To help the reader decide which controller is best suited for his/her choice of vehicle, experimental results are presented in a comparative format.
Author : Yizhai Zhang
Publisher :
ISBN 13 :
Total Pages : 166 pages
Book Rating : 4.:/5 (872 download)
Download or read book Modeling and Control of Single-track Vehicles written by Yizhai Zhang and published by . This book was released on 2014 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Single-track vehicles, such as motorcycles and bicycles, not only provide an everyday transportation means and recreational sport, but also offer an excellent platform to study physical human-machine-environment (HME) interactions. The main goal of this dissertation is to present a modeling and control system design framework for HME interactions in single-track vehicle systems. The dissertation focuses on three aspects: autonomous vehicle design, vehicle-environment interaction, and human-vehicle interaction. First, we propose novel modeling and control designs for riderless single-track vehicle to achieve agile maneuver navigation and stationary balancing. To achieve agile maneuver, the zero lateral velocity nonholonomic constraint at the tire contact point is relaxed. An empirical tire-road friction model is explicitly considered in the dynamic model. An external/internal convertible (EIC) model-based controller is designed for both trajectory tracking and path following strategies. Two different control designs are then presented to balance the stationary bicycle through steering control and gyroscopic actuator control, respectively. To capture the vehicle-environment interaction, the second part of the dissertation focuses on the study of the tire-road interaction. A high-fidelity tire model is proposed and built on the calculation of the deformation and friction force distributions in stick-slip transition. An in-situ sensing technique is also developed to directly measure the friction force distribution. The model and the sensing development can be further used for facilitating real-time friction parameter estimation and vehicle safety control. The third part of the dissertation mainly discusses the human-vehicle interaction. A dynamic model is first proposed to capture the physical rider-bicycle interaction. A novel pose estimation approach is developed to integrate the wearable inertial sensors with on-board force sensors. A balancing design is finally presented to control the stationary rider-bicycle interaction. All the modelings and control designs in the dissertations are validated through extensive simulations and experiments. The outcomes of the dissertation provide not only a modeling and control framework but also a physical experimental platform to study the unstable HME interactions. We discuss the future research direction at the end of the dissertation.
Author : Yi Qu
Publisher : Springer Nature
ISBN 13 : 9819711037
Total Pages : 501 pages
Book Rating : 4.8/5 (197 download)
Download or read book Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) written by Yi Qu and published by Springer Nature. This book was released on with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : V.V. Vantsevich
Publisher : IOS Press
ISBN 13 : 1614995761
Total Pages : 408 pages
Book Rating : 4.6/5 (149 download)
Download or read book Advanced Autonomous Vehicle Design for Severe Environments written by V.V. Vantsevich and published by IOS Press. This book was released on 2015-10-20 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Author : Sang Uk Lee (S.M.)
Publisher :
ISBN 13 :
Total Pages : 95 pages
Book Rating : 4.:/5 (97 download)
Download or read book Robust Motion Planning for Autonomous Tracked Vehicles in Deformable Terrain written by Sang Uk Lee (S.M.) and published by . This book was released on 2016 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ensuring the safety of autonomous vehicles during operation is a challenging task. Numerous factors such as process noise, sensor noise, incorrect model etc. can yield uncertainty in robot's state. Especially for tracked vehicles operating on rough terrain, vehicle slip due to vehicle terrain interaction affects the vehicle system significantly. In such cases, the motion planning of the autonomous vehicle must be performed robustly, considering the uncertain factors in advance of the real-time navigation. The primary contribution of this thesis is to present a robust optimal global planner for autonomous tracked vehicles operating in off-road terrain with uncertain slip. In order to achieve this goal, three tasks must be completed. First, the motion planner must be able to work efficiently under the non-holonomic vehicle system model. An approximate method is applied to the tracked vehicle system ensuring both optimality and efficiency. Second, the motion planner should ensure robustness. For this, a robust incremental sampling based motion planning algorithm (CC-RRT*) is combined with the LQG-MP algorithm. CC-RRT* yields the optimal and probabilistically feasible trajectory by using a chance constrained approach under the RRT* framework. LQG-MP provides the capability of considering the role of compensator in the motion planning phase and bounds the degree of uncertainty to appropriate size. Third, the effect of slip on the vehicle system must be modeled properly. This can be done in advance of operation if we have experimental data and full information about the environment. However, in case where such knowledge is not available, the online slip estimation can be performed using system identification method such as the IPEM algorithm. Simulation results shows that the resulting algorithms are efficient, optimal, and robust. The simulation was performed on a realistic scenario with several important factors that can increase the uncertainty of the vehicle. Experimental results are also provided to support the validity of the proposed algorithm. The proposed framework can be applied to other robotic systems where robustness is an important issue.
Author : Michał Ciszewski
Publisher : Springer Nature
ISBN 13 : 3030427153
Total Pages : 132 pages
Book Rating : 4.0/5 (34 download)
Download or read book Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection written by Michał Ciszewski and published by Springer Nature. This book was released on 2020-03-18 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments.
Author : Peng Hang
Publisher : CRC Press
ISBN 13 : 1000624951
Total Pages : 201 pages
Book Rating : 4.0/5 (6 download)
Download or read book Human-Like Decision Making and Control for Autonomous Driving written by Peng Hang and published by CRC Press. This book was released on 2022-07-25 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book details cutting-edge research into human-like driving technology, utilising game theory to better suit a human and machine hybrid driving environment. Covering feature identification and modelling of human driving behaviours, the book explains how to design an algorithm for decision making and control of autonomous vehicles in complex scenarios. Beginning with a review of current research in the field, the book uses this as a springboard from which to present a new theory of human-like driving framework for autonomous vehicles. Chapters cover system models of decision making and control, driving safety, riding comfort and travel efficiency. Throughout the book, game theory is applied to human-like decision making, enabling the autonomous vehicle and the human driver interaction to be modelled using noncooperative game theory approach. It also uses game theory to model collaborative decision making between connected autonomous vehicles. This framework enables human-like decision making and control of autonomous vehicles, which leads to safer and more efficient driving in complicated traffic scenarios. The book will be of interest to students and professionals alike, in the field of automotive engineering, computer engineering and control engineering.
Author : Ranjan Vepa
Publisher : Cambridge University Press
ISBN 13 : 1108422845
Total Pages : 371 pages
Book Rating : 4.1/5 (84 download)
Download or read book Dynamics and Control of Autonomous Space Vehicles and Robotics written by Ranjan Vepa and published by Cambridge University Press. This book was released on 2019-05-02 with total page 371 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.
Author : Adnan Tahirovic
Publisher : Springer Science & Business Media
ISBN 13 : 144715049X
Total Pages : 64 pages
Book Rating : 4.4/5 (471 download)
Download or read book Passivity-Based Model Predictive Control for Mobile Vehicle Motion Planning written by Adnan Tahirovic and published by Springer Science & Business Media. This book was released on 2013-04-18 with total page 64 pages. Available in PDF, EPUB and Kindle. Book excerpt: Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include: • how to use an MPC optimization framework for the mobile vehicle navigation approach; • how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and • what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal. The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimization step is continuously repeated to take into account new local sensor measurements. These ongoing changes make the path generated rather robust in comparison with techniques that fix the entire path prior to task execution. In addition to researchers working in MPC, engineers interested in vehicle path planning for a number of purposes: rescued mission in hazardous environments; humanitarian demining; agriculture; and even planetary exploration, will find this SpringerBrief to be instructive and helpful.
Author : Shaoshan Liu
Publisher : Morgan & Claypool Publishers
ISBN 13 : 1681731673
Total Pages : 285 pages
Book Rating : 4.6/5 (817 download)
Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.
Author : Saman K. Halgamuge
Publisher : Springer Nature
ISBN 13 : 9819718767
Total Pages : 1282 pages
Book Rating : 4.8/5 (197 download)
Download or read book The 8th International Conference on Advances in Construction Machinery and Vehicle Engineering written by Saman K. Halgamuge and published by Springer Nature. This book was released on with total page 1282 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Joshua T. Cook
Publisher :
ISBN 13 :
Total Pages : 276 pages
Book Rating : 4.:/5 (989 download)
Download or read book Dynamics Modeling and Control of Autonomous Tractors for Polar Traverses written by Joshua T. Cook and published by . This book was released on 2017 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis derives simulation models and proposes three control modes to handle various operating conditions for unmanned, heavy duty tracked vehicles pulling large payloads. The specific application of interest is the South Pole Traverse (SPT) which provides logistics support for research across the Antarctic continent, and delivery fuel to the South Pole Station. In their current configuration, SPT uses eight tractors and an eight man crew for each round trip journey from McMurdo Station to South Pole Station. Here, tractors pull sleds carrying ~3 times the nominal vehicle mass. These large loads can create mobility challenges for tractors but are also necessary to provide the desired economic yield for operation. The aim of this thesis is to equip unmanned tractors with a control architecture to handle the current load demands while maintaining timely and efficient traverse operations. If implemented, the estimated savings amounts to ~$2M that can reappropriated [1]. The beginning chapters of this thesis derive three different models for tractor simulation. The first is a simplified single body model that incorporates the coupling between the power-train and the terrain-vehicle interaction so that loading effects on vehicle operation are present in numerical experiments. This model is validated against experimental data collected in Antarctica. The second derives a more comprehensive multi-body model of SPT’s current towing configuration so that payload stability can be evaluated under closedloop control of unmanned tractors. The third model is a hybrid, multi-body model that equips the tractor with a hydraulic towing winch and captures actuator limitations via hydraulic component models. Later chapters use these models to explore and develop proposed architectures for a leader follower control mode, a traction control mode, and a winch control mode. The leader follower control mode is tested and developed using the second, multi-body model where payload stability can be evaluated under closed loop control. The traction control mode and winch control mode use a simplified version of the single body model for filtering and the multi-body winch model for controller testing. The effectiveness of all three control modes for tractor autonomy and mobility are demonstrated via simulation.
