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An improved Rapidly-exploring Random Tree∗ (RRT∗) algorithm was given, which focused on the problem of UAV path planning in 3-D dynamic environment. By considering the constraint of the UAV, the frequency of collision checking in the searching stage was reduced. And this could save searching time. D∗ Lite algorithm was introduced to RRT∗ to solve the dynamic path planning problem. The information...
Aimed at the particularity of the vehicles ride pulse input running test, based on the rigid ring tire model and effect road profile, the 4 DOF dynamics model of vehicles is set up. Using Visual C++ 6.0 as development platform, the digital simulation program was developed by Runge-Kutta method. Comparison between simulation result and test result indicates that there is a well consistency between...
A finite element model for supercavitating underwater vehicles is developed considering the effect of the connection surfaces between cabins on the structural dynamic response. The frequency and transient dynamic analyses are performed, and the performance of supercavitating underwater vehicles with configurations of flanged and sleeve connections is investigated. The numerical results show that the...
By the body-fixed coordinate, Coriolis' theorem and Cardan angles, a kinetic model of a high-temperature ladle carrier vehicle, which has 30 degree-of -freedoms, is built. The model could be used to predict the rollover of the vehicle. The inputs of the model are steer angle and rotational velocity of every tire, and the outputs are the motions of the vehicle's body and the forces on the body and...
Based on the Newton’s law of relative motion , the mode describing the turning behavior of an high -temperature ladle carrier vehicle is built while considering the vehicle body’s products of inertia. Due to the huge products of inertia, model calculation and numeric simulation show that the high-temperature ladle carrier vehicle may roll over during turning. The rollover can be avoided by setting...
Although the conventional PID controller is widely used, there has been limited success in the yaw moment control of the vehicle with obvious nonlinearities. This paper presents a controller based on self-tuning fuzzy PID to improve vehicle handling and stability simultaneously. The controller contains a conventional PID controller and fuzzy controller which could tune the parameters of PID controller...
This paper presents a roll state estimator and a rollover prediction model based on a real-time roll estimator. The real-time roll estimator is designed to estimate the current roll angle and roll rate of the vehicle body from a 3DOF vehicle model. The veDYNA dynamic simulation software was used to verify the performance of roll motion prediction. The prediction model calculates the time it takes...
Through analyzing the properties of vehicle GPS navigation system signalpsilas observation gross error and random noise, this paper presents a new dynamic filter algorithm, which based on stationary wavelet transformation (SWT). Firstly, the algorithm decomposes the vehicle GPS navigation signal with stationary wavelet function. Then, the algorithm detects, eliminates and corrects the signalpsilas...
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