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Reversing with a dolly steered trailer configuration is a hard task for any driver without extensive training. In this work we present a motion planning and control framework that can be used to automatically plan and execute complicated manoeuvres. The unstable dynamics of the reversing general 2-trailer configuration with off-axle hitching is first stabilised by an LQ-controller and then a pure...
This paper presents a robust motion planning methodology for autonomous tracked vehicles navigating in a rough and unknown environment. Two fields of study are dealt with in this paper: motion planning and slip estimation. For the motion planner, the CC-RRT* algorithm is combined with LQG-MP. The motion planner uses a chance-constrained approach and considers the role of compensator in the planning...
This paper deals with the model of optimal maneuver of units and its implementation in the Tactical Decision Support System (TDSS). The model is designed to be used for planning the optimal movement of units (soldiers, vehicles, unmanned robots) on the battlefield. The paper is separated into three main parts. Firstly, the model of maneuver is discussed; it is divided into five independent layers:...
In this paper a unified motion control and planning algorithm dedicated for the waypoint following task realized by a skid-steering is presented. In order to reduce excessive slip effects between robot wheels and ground it is assumed that the vehicle moves with bounded velocities and accelerations. The motion controller has been designed using formal methods to ensure asymptotically stable tracking...
This paper investigates two frameworks for interfacing trajectory tracking functions with a computationally tractable nonlinear model predictive trajectory guidance module for an autonomous road vehicle. In the first framework, the predictive trajectory guidance itself is configured in a tracking mode where the control inputs computed by the model predictive control act as targets for some lower-level...
In this paper we propose a novel algorithm for the dynamic routing of a group of Autonomous Guided Vehicles (AGVs) used for transporting goods in automatic warehouses. Our strategy allows to improve the efficiency of a fleet of AGVs in terms of delivery time and its computational burden is sufficiently small to be embedded in standard industrial traffic management system. The algorithm is validated...
This paper presents some key components of a semi-autonomous parking assist system designed for a passenger car without any automatic gear. Four subsystems are detailed: the state estimation, the map construction, the path planning and the tracking controller modules. The tasks of these systems are addressed in this work, and the main steps of their algorithms are described. This parking assist system...
In this paper, a global optimization methodology is described to pre-design an electric vehicle powertrain in order to find the best compromises between components. The modeled system includes a transmission, an electric machine, an inverter and a battery pack. The challenge is to find the dedicated formulations, with the vehicle performance requirements, electric range, and cost calculation that...
This paper addresses the finite-time formation tracking problem for vehicles with dynamics model on SE(3) (the specific Euclidean group of rigid body motions), under the condition that the tracking time is given according to task requirements in advance. By using Pontryagin's maximum principle (PMP) on Lie groups, a finite-time optimal tracking control law is designed for vehicles to track a desired...
In this paper we propose a framework for trajectory planning and control of tracked vehicles for rescue environments, based on Augmented Reality (AR). The framework provides the human operator with an AR-based interface that facilitates both 3D path planning and obstacle negotiation. The interface converts the 3D movements of a marker pen, handheld by the operator, into trajectories feasible for the...
We present a general notion of robust controller specification and a mechanism for sequentially composing them. These specifications form tubular abstractions of the trajectories of a system in different control modes, and are motivated by the techniques available for certifying the performance of low-level controllers. The notion of controller specification provides a rigorous interface for connecting...
One solution for the motion planning in a non holonómico vehicle, described as mobile robot, is made in this paper. Using the boundary conditions, the desired trajectory is parameterized in a polynomial by means of a point to point steering algorithm. The system is drove trough the trajectory, using the Differential Flatness properties, calculating the input values in order to perform the movement...
Trajectory generation and control of large equipment in open field environments involves systematically and robustly operating in uncertain and dynamic terrain. This paper presents an integrated motion planning and control system for tracked vehicles. Flexible path-end adjustments and adaptive look-ahead are introduced to a state lattice planning approach with waypoint control. For a given processing...
Path planning is basis for any autonomous underwater vehicle to implement completely cruising in subsea environment and path tracking is important technology as well, especially for multi-AUV (Autonomous underwater vehicle) cruising with a fleet formate. In this paper, algorithms path planning and path tracking are addressed for an open frame AUV. Fast Marching algorithm is applied to solve problems...
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