In this paper, a novel omnidirectional vehicle with anisotropic friction wheels is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the...

The objective of this research is the replacement of hand weeding in organic farming by a device working autonomously at field level. The autonomous weeding robot was designed using a structured design approach, giving a good overview of the total design. A vehicle was developed with a diesel engine, hydraulic transmission, four-wheel drive and four-wheel steering. The available power and the s...

The paper presents the design of a lateral stability controller for ground vehicles based on front steering and four wheels independent braking. The control objective is to track yaw rate and lateral velocity reference signals while avoiding front and rear wheel traction force saturation. Control design is based on an approximate piecewise–affine nonlinear dynamical model of the vehicle. Vehicl...

In this paper a control strategy of Automated Guided Vehicle (AGV) is proposed. The vehicle movement controlled by an inboard PLC do not need physical guide. The vehicle has 3 wheels. The front wheel is used for steering and driving. The 2 rear wheels are free and equipped with 2 encoders. The strategy is based on 2 main purposes: the path is stored in the PLC memory and the vehicle displacemen...

Wheel profile is a very important factor that helps the steering performance of railway vehicle. However, during operation, wheel tends to vary inconsistently due frictional contact at wheel-rail interface. This paper focuses on problem wheelset and its alteration affects Signal-based indirect estimation technique using Fast Fourier Transform (FFT) proposed establish relationship between dynami...

This paper presents two major components of an automatic parking assist system (APAS). The APAS maps the environment of the vehicle and detects the existence of accessible parking place where the vehicle can park into. The two most important tasks the APAS must then realize are the design of a feasible path geometry and the tracking of this reference in closed loop such that the longitudinal ve...

A controller was developed to govern the lateral position of a highway-speed vehicle using frequencyweighted coordination of front steering and torque inputs. The MISO design problem was recast as a SISO approach by using a cascaded design technique: the first step determined the relative contribution of each control input as a function of frequency; secondary design steps utilized classical SI...

Steering assist system controls the force transfer behavior of the steering system and improves the steering probability of the vehicle. Moreover, it is an interface between the diver and vehicle. Fault detection in electrical assisted steering systems is a challenging problem due to frequently use of these systems. This paper addresses the fault detection and reconstruction in automotive elect...