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In order to enhance ride comfort and vehicle stability, numerous control approaches have been applied in vehicle suspension research. One of these control approaches is the family of fuzzy controllers. The literature is rich in research about fuzzy techniques focused on vehicle suspension performance but exists a lack of work on semi-active suspensions models that includes accurate actuator dynamics...
The unmanned aerial vehicle (UAV) under investigation (Evader) has two rotors with the capability of independent lateral and longitudinal rotor tilting. The dynamic model of this vehicle is derived based on the Newton-Euler equations. The parametric uncertainties are considered in the model and an adaptive control law based on feedback linearization is proposed to overcome model uncertainties. The...
Current Unmanned Vehicle (UV) navigation systems are capable of autonomous navigation among disperse obstacles. However, these systems may fail to guide vehicles through highly confined environments because they do not explicitly consider the geometry of the vehicle in the navigation task. This paper presents a methodology that enables the navigation of Unmanned Vehicles (UVs) in such 3D environments...
Mecanum wheels give vehicles and robots autonomous omni-directional capabilities, while regular wheels don't. The omni-directionality that such wheels provide makes the vehicle extremely maneuverable, which could be very helpful in different indoor and outdoor applications. However, current Mecanum wheel designs can only operate on flat hard surfaces, and perform very poorly on rough terrains. This...
This paper presents a new, computationally inexpensive, terrain roughness assessment technique. The technique, targeted for high speed unmanned ground vehicles (UGVs), considers no previous knowledge about the terrain but a priori knowledge about the vehicle's characteristics such as damping ratio, natural frequency and wheel configuration. The approach aims to allow fast, smooth and safe transition...
A new modeling methodology that enables represent the urban traffic system (UTS) dynamic entities using a multi-agent event oriented approach is presented. The methodology uses an enhanced n-Level net system (n-LNS) formalism of Petri nets. The first level describes the traffic network and UTS static and dynamic information objects; the second level describes the general entity behavior (activity...
This paper presents a modular architecture for robotic control (MARC) for unconventional unmanned aerial vehicles (UAV). MARC was developed for a double-ducted vertical take-off and landing (VTOL) vehicle, capable of maneuvering within densely obstructed environments. The focus of this paper is to present the characteristics of the MARC architecture for the use of a twin-duct VTOL as an optimal platform...
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