dynamics and advanced motion control of off road ugvs

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Dynamics and Advanced Motion Control of Off-Road UGVs
Author : Yue Ma
Publisher : Academic Press
Release Date : 2020-08-19
ISBN 10 : 0128188006
Pages : 354 pages

Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments. Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way. Gives a comprehensive analysis and introduction to the dynamics and advanced motion control of unmanned ground off-road vehicles Covers key related technology concepts, such as intelligent and electrification of ground vehicles Details the entire control framework of off-road UGVs and the implementation of controller design

Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle
Author : Jun NI,Jibin Hu,Changle Xiang
Publisher : Morgan & Claypool Publishers
Release Date : 2018-01-04
ISBN 10 : 1681732521
Pages : 130 pages

X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.

Fundamental Design and Automation Technologies in Offshore Robotics
Author : Hamid Reza Karimi
Publisher : Academic Press
Release Date : 2020-10-30
ISBN 10 : 0128202726
Pages : 360 pages

Fundamental Design and Automation Technologies in Offshore Robotics introduces technological design, modelling, stability analysis, control synthesis, filtering problem and real time operation of robotics vehicles in offshore environments. The book gives numerical and simulation results in each chapter to reflect the engineering practice yet demonstrate the focus of the developed analysis and synthesis approaches. The book is ideal to be used as a reference book for senior and graduate students. It is written in a way that the presentation is simple, clear, and easy to read and understand which would be appreciated by graduate students. Researchers working on marine vehicles and robotics would be able to find reference material on related topics from the book. The book could be of a significant interest to the researchers within offshore and deep see society, including both academic and industrial parts. Provides a series of latest results in, including but not limited to, motion control, robotics, and multi-vehicle systems towards offshore environment Presents recent advances of theory, technological aspects, and applications of robotics in offshore environment Offers a comprehensive and up-to-date references, which plays an indicative role for further study of the reader

Technology Development for Army Unmanned Ground Vehicles
Author : National Research Council,Division on Engineering and Physical Sciences,Board on Army Science and Technology,Committee on Army Unmanned Ground Vehicle Technology
Publisher : National Academies Press
Release Date : 2003-02-01
ISBN 10 : 0309086205
Pages : 180 pages

Unmanned ground vehicles (UGV) are expected to play a key role in the Army’s Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army’s UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.

Robot and Multibody Dynamics
Author : Abhinandan Jain
Publisher : Springer Science & Business Media
Release Date : 2010-12-17
ISBN 10 : 9781441972675
Pages : 510 pages

Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatial Operator Algebra (SOA), for studying the dynamics of articulated multibody systems. The approach is useful in a wide range of applications including robotics, aerospace systems, articulated mechanisms, bio-mechanics and molecular dynamics simulation. The book also: treats algorithms for simulation, including an analysis of complexity of the algorithms, describes one universal, robust, and analytically sound approach to formulating the equations that govern the motion of complex multi-body systems, covers a range of more advanced topics including under-actuated systems, flexible systems, linearization, diagonalized dynamics and space manipulators. Robot and Multibody Dynamics: Analysis and Algorithms will be a valuable resource for researchers and engineers looking for new mathematical approaches to finding engineering solutions in robotics and dynamics.

Autonomous Vehicles in Support of Naval Operations
Author : National Research Council,Division on Engineering and Physical Sciences,Naval Studies Board,Committee on Autonomous Vehicles in Support of Naval Operations
Publisher : National Academies Press
Release Date : 2005-08-05
ISBN 10 : 9780309181235
Pages : 256 pages

Autonomous vehicles (AVs) have been used in military operations for more than 60 years, with torpedoes, cruise missiles, satellites, and target drones being early examples.1 They have also been widely used in the civilian sector--for example, in the disposal of explosives, for work and measurement in radioactive environments, by various offshore industries for both creating and maintaining undersea facilities, for atmospheric and undersea research, and by industry in automated and robotic manufacturing. Recent military experiences with AVs have consistently demonstrated their value in a wide range of missions, and anticipated developments of AVs hold promise for increasingly significant roles in future naval operations. Advances in AV capabilities are enabled (and limited) by progress in the technologies of computing and robotics, navigation, communications and networking, power sources and propulsion, and materials. Autonomous Vehicles in Support of Naval Operations is a forward-looking discussion of the naval operational environment and vision for the Navy and Marine Corps and of naval mission needs and potential applications and limitations of AVs. This report considers the potential of AVs for naval operations, operational needs and technology issues, and opportunities for improved operations.

Intelligent Unmanned Ground Vehicles
Author : Martial H. Hebert,Charles E. Thorpe,Anthony Stentz
Publisher : Springer Science & Business Media
Release Date : 2012-12-06
ISBN 10 : 1461563259
Pages : 309 pages

Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.

Unmanned Ground Vehicle Technology
Author : N.A
Publisher : N.A
Release Date : 2001
ISBN 10 :
Pages : 329 pages

Vehicle Handling Dynamics
Author : Masato Abe
Publisher : Butterworth-Heinemann
Release Date : 2009-05-15
ISBN 10 : 9780080961811
Pages : 296 pages

This is the first book to combine classical vehicle dynamics with electronic control. The equation-based presentation of the theory behind vehicle dynamics enables readers to develop a thorough understanding of the key attribute to both a vehicle's driveability and its active safety. Supported by MATLAB tools, the key areas that affect vehicle dynamics are explored including tire mechanics, the steering system, vehicle roll, traction and braking, 4WS and vehicle dynamics, vehicle dynamics by vehicle and human control, and controllabiliy. As a professional reference volume, this book is an essential addition to the resources available to anyone working in vehicle design and development. Written by a leading authority in the field (who himself has considerable practical experience), the book has a unique blend of theory and practice that will be of immense value in this applications based field. Get a thorough understand of why vehicles respond they way they do with a complete treatment of vehicle dynamics from theory to application Full of case studies and worked examples using MATLAB/Simulink Covers all variables of vehicle dynamics including tire and vehicle motion, control aspects, human control and external disturbances

Alternative Fuels and Advanced Vehicle Technologies for Improved Environmental Performance
Author : Richard Folkson
Publisher : Elsevier
Release Date : 2014-03-19
ISBN 10 : 0857097423
Pages : 784 pages

Most vehicles run on fossil fuels, and this presents a major emissions problem as demand for fuel continues to increase. Alternative Fuels and Advanced Vehicle Technologies gives an overview of key developments in advanced fuels and vehicle technologies to improve the energy efficiency and environmental impact of the automotive sector. Part I considers the role of alternative fuels such as electricity, alcohol, and hydrogen fuel cells, as well as advanced additives and oils, in environmentally sustainable transport. Part II explores methods of revising engine and vehicle design to improve environmental performance and fuel economy. It contains chapters on improvements in design, aerodynamics, combustion, and transmission. Finally, Part III outlines developments in electric and hybrid vehicle technologies, and provides an overview of the benefits and limitations of these vehicles in terms of their environmental impact, safety, cost, and design practicalities. Alternative Fuels and Advanced Vehicle Technologies is a standard reference for professionals, engineers, and researchers in the automotive sector, as well as vehicle manufacturers, fuel system developers, and academics with an interest in this field. Provides a broad-ranging review of recent research into advanced fuels and vehicle technologies that will be instrumental in improving the energy efficiency and environmental impact of the automotive sector Reviews the development of alternative fuels, more efficient engines, and powertrain technologies, as well as hybrid and electric vehicle technologies

International Aerospace Abstracts
Author : N.A
Publisher : N.A
Release Date : 1996
ISBN 10 :
Pages : 329 pages

Control Strategy for Time-Delay Systems
Author : Mohammad-Hassan Khooban,Tomislav Dragicevic
Publisher : Academic Press
Release Date : 2020-11-27
ISBN 10 : 0128206144
Pages : 436 pages

Control Strategy for Time-Delay Systems Part I: Concepts and Theories covers all the important features of real-world practical applications which will be valuable to practicing engineers and specialists, especially given that delays are present in 99% of industrial processes. The book presents the views of the editors on promising research directions and future industrial applications in this area. Although the fundamentals of time-delay systems are discussed, the book focuses on the advanced modeling and control of such systems and will provide the analysis and test (or simulation) results of nearly every technique described. For this purpose, highly complex models are introduced to ‎describe the mentioned new applications, which are characterized by ‎time-varying delays with intermittent and stochastic nature, several types of nonlinearities, and the presence ‎of different time-scales. Researchers, practitioners, and PhD students will gain insights into the prevailing trends in design and operation of real-time control systems, reviewing the shortcomings and future developments concerning practical system issues, such as standardization, protection, and design. Presents an overview of the most recent trends for time-delay systems Covers the important features of the real-world practical applications that can be valuable to practicing engineers and specialists Provides analysis and simulations results of the techniques described in the book