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This paper is about preservation of physical integrity of mobile robot for real outdoor applications encountered in agricultural field. Unlike other approaches that try to detect and to avoid obstacle, we consider the allowable speed grid. This grid depends on the vehicle capabilities, its dynamic constraints, its speed and the 3D rendering of the environment. We made a dynamic study to estimate the...
There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying...
Biorobotic autonomous undersea vehicle SPC-III, developed by Robotics institute, BeiHang University, is a mission-scale autonomous submersible vehicle. The submersible vehicle possesses a torpedo-shape rigid hull. The aft section is a two joints caudal fin thruster driven by two servo motors, which may be substituted by a screw propeller maintaining the same body shape. The accurate motion of the...
In this paper, we present a new approach to the problem of simultaneous distributed localization for multiple autonomous underwater vehicles(MAUVs). Cooperative localization(CL) is a crucial cycle for long range navigation of MAUVs. In the leader-follower cooperative structure, a collective estimator is processed in the form of a extended Kalman filter. Different from the normal decentralized filter...
This paper is about environment perception for navigation system in real outdoor applications. Unlike other approaches that try to detect an obstacle of binary state, we consider here a Digital Elevation Map (DEM). This map has to be built in regards to the guidance system's needs. These needs depend on the vehicle capabilities, its dynamical constraints, its speed etc... Starting with the navigation...
In a hybrid vehicle with dual power systems such as internal combustion engines working with conventional fuels and electric motors, each system has specific operational characteristics and requirements which these have to be matched with each other and at the same time with the vehicle itself. This dual power system is too complex especially from points of nonlinearity, uncertainty, and switching...
In this study, an electrically powered vehicle has been implemented to perform an unmanned ground vehicle purpose. The steering system is modified to automatically control by installing the DC servo motor at the steering wheel shaft. The compass sensor used as the feedback sensor to measure the current heading angle of the vehicle. The autonomous navigation system determines the general sense of direction...
In this paper, a new redundancy resolution scheme is proposed for an underwater vehicle manipulator system (UVMS). Using the proposed resolution technique, the system's redundancy is exploited so as to minimize gravity and buoyancy loading of the UVMS which is composed of subsystems with different dynamic responses. The generalized velocity components (GVC) approach is considered in order to obtain...
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...
Modern vehicles carry GPS, music systems, sunroofs and a number of other electronic gadgets. Interaction with these devices while driving often takes the driver's eyes ??Off the road?? and raises safety concerns. We are proposing a new design of haptic controls which uses `sense of touch'. A peculiar set of distinguishable haptic feedback which links to a corresponding device allows the user to operate...
Accurate estimation of a wheeled vehicle is essential to increase the vehicle's tranversibility choices in rough terrain. The knowledge of slip parameters can be used in the development of higher-level strategic control of unmanned ground vehicles such as path planning, trajectory tracking and traction control. In this paper, a sliding mode observer is developed to estimate slip parameters based on...
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