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We present an underwater docking technique for a manta-type unmanned undersea vehicle (UUV) which is under development in Korea Institute of Robot and Convergence (KIRO). The manta-type UUV is a test-bed vehicle for demonstrating an autonomous docking technique in the water tank [1]. There are two cameras mounted in front of the vehicle for vision-based underwater localization around docking station...
This paper presents the development of a state observer for a 2-axle railway vehicle with solid axle wheelsets. A plan view model of the vehicle is presented and a Kalman filter is developed to estimate 18 states from 8 inertial measurements. The required measurements are the lateral acceleration and yaw velocity of the vehicle body and the same measurements plus the roll velocity for the two wheelsets,...
ROV trencher is a kind of heavy-duty work class ROV with high pressure water jetting tools cutting the sea floor and burying the cable. This ROV is mostly used for PLIB (post lay inspection and burial) operation. For a ROV trencher, usually there is a pair of jetting legs mounted at the bottom and stowed in a horizontal position in its rest mode. While burying cable in the sea floor, they are folded...
P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes. The AUV mode is supposed to carry out some of underwater missions which are difficult to be accomplished by ROV mode due to its tether cable. To complete the underwater missions such as inspection and maintenance of complex structures in AUV mode, the vehicle is required to have high level of autonomy including obstacle...
To achieve desired performance during high speed driving, we cannot neglect slippage. The kinematics and the dynamics of a system should all be considered. Path tracking is one of the most important issues in wheel based vehicles. In this study, we will discuss the dynamic model of an Ackerman steered vehicle. The model is obtained according to Newton's laws, considering that the vehicle is moving...
In this study, a novel robot control framework is presented for multiple autonomous underwater vehicles. In this framework, we incorporate sonar sensor data and integrated navigation system position data in a simulation environment, called UNBeatable-Sim, where complex control behaviors can be executed and analyzed. UNBeatable-Sim is developed by the COllaboration Based Robotics and Automation (COBRA)...
This paper reports the up-to-date progress of an internet based crossover robot remote control competition which is an international cooperation project of UEC of Japan, UESTC of China, KMITL of Thailand, and TKU of Taiwan. We propose a new competition style called "cargo relay transportation by a locally controlled humanoid robot and a remotely controlled robotic vehicle" in which a locally...
In this paper, an intelligent vehicle is built using a remote control car. A fuzzy controller is developed for vision based autonomous road following. The analysis and design of fuzzy control laws for steering control of the autonomous nonholonomic robotic vehicle are described. This approach utilizes Lyapunov's direct method to formulate a class of control laws that guarantee the convergence of the...
In this paper, a non-time based action executor is proposed for the Coordinated Hybrid Agent (CHA) framework for the control of multi-agent systems. The non-time based agent is designed for multiple intelligent vehicles. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force and impact control, robotic teleoperation...
Application of a vision system and a remote control car to an elective fourth year design project in electrical engineering is discussed. The design project involves learning and application of various sensors, actuators, control theories. The end product of the design project is an intelligent vehicle that is able to follow an emulated highway automatically. A camera with embedded color tracking...
In this paper, a non-time based tracking controller for multiple intelligent vehicles is designed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force and impact control, robotic tele-operation and manufacturing automation. In this research, we propose to use non-time based multi-agent control for the control...
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