Modelling of an Autonomous Amphibious Vehicle
نویسندگان
چکیده
This paper presents the modelling of an autonomous amphibious vehicle developed at the Australian Centre for Field Robotics, Sydney. All parts of the vehicle’s driveline from the engine, CVT, gearbox to wheels are analysed and modelled. Results from simulation, compared with data from characterising experiments, show that these models are valid and can be used for the control purpose. Keyword: automotive, CVT, diffenrential, skidsteering List of symbols: Ne: Engine speed Nc: CVT output speed NG: Gearbox output speed Nd: Speed of differential case (=NG) NdR: Differential’s output speed on right side NdL: Differential’s output speed on left side NwR: Right wheel speed NwL: Left wheel speed Te: Engine torque Tfric,e: Engine friction torque Tec: Load on engine Tc: Load on CVT Tfric,G: Gearbox friction torque TG: Load on gearbox Tfric,D: Differential friction torque Td: Load on differential’s case TdR: Load on differential’s right output TdL: Load on diffrential’s left output TwR: Load from right wheels TwL: Load from left wheels Tfric,w: Wheel friction torque K1: CVT gear ratio K2: Gearbox gear ratio K3: Chain system gear ratio r: Wheel radius
منابع مشابه
Software and Control Architecture Development of an Autonomous Vehicle
This paper presents the design and development of the software and control architecture of the Centaur, an autonomous amphibious and all-terrain utility vehicle project. The adaptation of a hybrid between planning and behaviour based control architectures for the vehicle is explained using decomposition methods. This paper will show how subsystems relate and operate with each other to accomplis...
متن کاملIdentification of an Autonomous Underwater Vehicle Dynamic Using Extended Kalman Filter with ARMA Noise Model
In the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. Since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. In this study, hydrodynamic coefficients of an autonomous un...
متن کاملAutonomous Underwater Vehicle Hull Geometry Optimization Using a Multi-objective Algorithm Approach
Abstarct In this paper, a new approach to optimize an Autonomous Underwater Vehicle (AUV) hull geometry is presented. Using this methode, the nose and tail of an underwater vehicle are designed, such that their length constraints due to the arrangement of different components in the AUV body are properly addressed. In the current study, an optimal design for the body profile of a torpedo-shaped...
متن کاملLinear Time Varying MPC Based Path Planning of an Autonomous Vehicle via Convex Optimization
In this paper a new method is introduced for path planning of an autonomous vehicle. In this method, the environment is considered cluttered and with some uncertainty sources. Thus, the state of detected object should be estimated using an optimal filter. To do so, the state distribution is assumed Gaussian. Thus the state vector is estimated by a Kalman filter at each time step. The estimation...
متن کاملObstacle avoidance for an autonomous vehicle using force field method
This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...
متن کامل