Steering Control for a Skid-Steered Autonomous Ground Vehicle at Varying speed

نویسنده

  • Suresh Golconda
چکیده

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Biographical Sketch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Energy efficient path planning for skid-steered autonomous ground vehicles

It is important to minimize the energy consumption of autonomous ground vehicles (AGVs) deployed in real world missions. One of the ways that this can be accomplished is to choose the vehicle’s motion to minimize the mechanical and electrical energy usage required by the vehicle’s motion. This paper considers energy efficient motion planning for skid-steered AGVs, an important and large class o...

متن کامل

Switching mode generation and optimal estimation with application to skid-steering

Skid-steered vehicles, by design, must skid in order to maneuver. The skidding causes the vehicle to behave discontinuously during a maneuver as well as introduces complications to the observation of the vehicle’s state, both of which affect a controller’s performance. This paper addresses estimation of contact state by applying switched system optimization to estimate skidding properties of th...

متن کامل

Control Laws Design and Validation of Autonomous Mobile Robot Off-Road Trajectory Tracking Based on ADAMS and MATLAB Co-Simulation Platform

Autonomous automobile technology is a rapidly developing field, with interest in both academia and industry. Outdoor navigation of autonomous vehicles, especially for roughterrain driving, has already been a new research focus. DARPA Grand Challenge and LAGR program stand for the top development level in this research region. Rough-terrain driving research offers a challenge that the in-vehicle...

متن کامل

Robust automatic parallel parking in tight spaces via fuzzy logic

This paper develops and experimentally demonstrates a robust automatic parallel parking algorithm for parking in tight spaces. Novel fuzzy logic controllers are designed for each step of the maneuvering process. The controllers are first demonstrated by simulation using the kinematic model of a skid steering autonomous ground vehicle (AGV). They are then demonstrated experimentally on a skid st...

متن کامل

Modeling of Skid-steered Wheeled Robotic Vehicles on Sloped Terrains

Skid-steered robots are commonly used in outdoor applications due to their mechanical simplicity, high maneuverability, and robustness. The maneuverability of these robots allows them, under ideal conditions (e.g., flat terrain and powerful actuators), to perform turning maneuvers ranging from point turns to straight line motion. However, sloped terrain, terrain with high friction, or actuator ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2005