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Preserving location-privacy in vehicular networks is a challenge. On one hand, under Public Key Infrastructure (PKI) realm, changing pseudonyms has been the state-of-the-art; however, to avoid being tracked, the vehicle has to change the pseudonym when it is within a fixed or a dynamic mix zone, created using encryption or silent periods. On the other hand, under the group signature realm, super anonymity...
In large industrial plants, the inspection of production lines is a heavy and costly task that puts human inspectors at high risk. In order to overcome these challenges, we have developed an autonomous plant inspection system using a mobile tracked vehicle. In this paper, we propose an autonomous navigation method for tracked vehicles based on a contact force model that enables the robot to compensate...
This paper presents an extended kinematics and dynamics of the articulated tracked vehicles (ATV) used in many applications. The velocity of the front and the rear vehicle are firstly analysed and the kinematics of ATV is built, according to which the steer radius and the track velocity can be obtained. Then we analyse the force and moment acting on the ATV running on the firm ground and the soft...
Driving phenomenon is a repetitive process, that permits sequential learning under identifying the proper change periods. Sequential filtering is widely used for tracking and prediction of state dynamics. However, it suffers at abrupt changes, which cause sudden incremental prediction error. We provide a sequential filtering approach using online Bayesian detection of change points to decrease prediction...
This paper presents a methodology to optimize the drive forces and steering angles for achieving accurate path tracking by a four wheel steer and four wheel drive (4WS4WD) vehicle. The 7-order Bézier curves are applied in path planning and online tracking, and used to obtain the kinematic and dynamic profiles for the guidance of vehicle. The 8-input dynamic model is developed and applied in an objective...
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...
This paper is focused on a hybrid control solution designed for a skid-steering vehicle for point-to-point motion. It is assumed that the vehicle moves with limited velocities and accelerations in order to reduce excessive slip and skid effects. In order to obtain desired control properties, a motion planner is combined with a universal stabilizer taking advantage of transverse functions. To improve...
This paper proposes an approach to the design of trajectory tracking controller for a class of vehicles, moving in the horizontal plane, that takes into account dynamical couplings in the inertia matrix. To this aim the equations of motion are transformed to the form which arises from the inertia matrix decomposition. The main feature of this approach is that the mechanical couplings are included...
Tracked robots have been studied for years, to high-level applications, such as autonomous navigation in areas of difficult access and maneuvering strategies that allow better performance compared to other types of vehicles. The full operation of a robotic system depends on ensuring the functioning of all its parts, which can be divided hierarchically or functionality. There is a consensus that the...
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 describes a method for station keeping and docking of floating vehicles. We consider the case of a lighter-than-air blimp and that of an underwater robot. Due to the motion disturbances in the environment (currents), these tasks are important to keep the vehicle stabilized relative to an external reference frame. The main difficulties to achieve station keeping and docking are related to...
The formation flight has many significant advantages over single vehicle flight. The control and tracking issues of lateral roll dynamics of two UAVs with leader-follower pattern is discussed in this paper. The objectives of this work is to develop the robust control technology using H∞ techniques to withstand the lateral aero-coefficient-perturbed conditions in the control and tracking of two aerodynamically...
This paper presents a strategy of designing a trajectory-tracking control law for unmanned aerial vehicles where an unmodifiable autopilot is incorporated in the closed-loop system. The main contributions of this paper include a novel control structure that enables an explicit design of tracking methods for a system with an unmodifiable autopilot in the loop, and a novel controller that augments the...
Accurate motion models are key to many tasks in the intelligent vehicle domain, but simple Linear Dynamics (e.g. Kalman filtering) do not exploit the spatio-temporal context of motion. We present a method to learn Switching Linear Dynamics of object tracks observed from within a driving vehicle. Each switching state captures object dynamics as a mean motion with variance, but also has an additional...
Tracking accuracy in ground vehicle path following is an important topic addressed by vehicle steering control. While several controllers exist, this controller aims to provide improved path following while cornering on sloped terrain. Towards this goal, this work develops a new kinematic controller that considers the effect of slip and a new dynamic controller that better compensates modelling error...
This paper reports a comparative experimental evaluation of proportional derivative and adaptive model-based control for underwater vehicles. To the best of the authors' knowledge, this is the first such evaluation of model-based adaptive tracking control for underwater vehicles during simultaneous dynamic motion in all 6 degrees-of-freedom. This experimental evaluation revealed the presence of unmodeled...
In this paper, the consensus and formation tracking control for multiple quad rotors are discussed. The dynamic model of the quad rotor is presented using the Newton-Euler formalism. Because the presence of the external disturbance in the quad rotor dynamic model, the design of the control law is Based on sliding mode control combined with fixed communication topology. With a good choice of parameters...
Serpentine tracked robots -i. e., articulated multi-tracked vehicles -are designed to move on rough terrains and used for a variety of purposes, including search and rescue operations, planetary exploration and environmental investigations. The steerability of such vehicles depends on its posture and interaction between the vehicle and the ground. In previous research, kinematic models with slip information...
Graceful motion in vehicle steering is an important issue. Generally, this problem can be solved by controller design or planning a path in a real time. However, it may need the system to carry on more computing effort or make a compromise between the tracking accuracy and motion smoothness. In this paper, a multi-tiered model based steering control strategy is proposed for considering vehicle kinematics...
This paper deals with the design of cooperative control laws for nonlinear multi-agent systems. On the first hand, the control objectives are to ensure that a group of agents reaches a time-varying circular formation characterized by some external references representing the position of the center of the formation and its derivatives. In order to reduce the amount of information to be shared, the...
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