Dynamics and Advanced Motion Control of Off Road UGVs

Dynamics and Advanced Motion Control of Off Road UGVs
Author: Yu Mae
Publsiher: Academic Press
Total Pages: 354
Release: 2020-08-06
ISBN: 0128188006
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Dynamics and Advanced Motion Control of Off Road UGVs Book Excerpt:

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

Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle
Author: Jun NI,Jibin Hu,Changle Ziang
Publsiher: Springer Nature
Total Pages: 130
Release: 2022-05-31
ISBN: 3031014960
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Design and Advanced Robust Chassis Dynamics Control for X by Wire Unmanned Ground Vehicle Book Excerpt:

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

Advanced Autonomous Vehicle Design for Severe Environments
Author: V.V. Vantsevich,M.V. Blundell
Publsiher: IOS Press
Total Pages: 408
Release: 2015-10-20
ISBN: 1614995761
Category: TECHNOLOGY & ENGINEERING
Language: EN, FR, DE, ES & NL

Advanced Autonomous Vehicle Design for Severe Environments 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.

Intelligent Vehicle Systems

Intelligent Vehicle Systems
Author: Raj Madhavan,Elena R. Messina
Publsiher: Nova Publishers
Total Pages: 342
Release: 2006
ISBN: 9781600212604
Category: Transportation
Language: EN, FR, DE, ES & NL

Intelligent Vehicle Systems Book Excerpt:

This book presents new research on autonomous mobility capabilities and shows how technological advances can be anticipated in the coming two decades. An in-depth description is presented on the theoretical foundations and engineering approaches that enable these capabilities. Chapter 1 provides a brief introduction to the 4D/RCS reference model architecture and design methodology that has proven successful in guiding the development of autonomous mobility systems. Chapters 2 to 7 provide more detailed descriptions of research that has been conducted and algorithms that have been developed to implement the various aspects of the 4D/RCS reference model architecture and design methodology. Chapters 8 and 9 discuss applications, performance measures, and standards. Chapter 10 provides a history of Army and DARPA research in autonomous ground mobility. Chapter 11 provides a perspective on the potential future developments in autonomous mobility.

Applied Guidance Methodologies for Off road Vehicles

Applied Guidance Methodologies for Off road Vehicles
Author: Javad Taghia,Jayantha Katupitiya
Publsiher: Springer Nature
Total Pages: 137
Release: 2020-05-01
ISBN: 303042359X
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Applied Guidance Methodologies for Off road Vehicles 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.