Performance of a simplified Quad Tiltrotor (QTR) is studied in ground effect using CFD. The rotor systems are modeled in a time averaged sense using source terms for the forces in the momentum equations. Viscous body conforming overset meshes are used to model all the solid surfaces of the vehicle. The background Cartesian grid is used to specify the far-field boundary conditions and transfer i...

Arobust control technique is proposed to address the problem of trajectory tracking of an autonomous ground vehicle (AGV). This technique utilizes a fractional-order proportional integral derivative (FOPID) controller to control a non-holonomic autonomous ground vehicle to track the behaviour of the predefined reference path. Two FOPID controllers are designed to control the AGV’s inputs. These...

An engineering design framework for an autonomous ground vehicle vision system is discussed. We present both the conceptual and physical design by following the design process, development and testing of an intelligent ground vehicle vision system constructed for the 2008 Intelligent Ground Vehicle Competition. During conceptual design, the requirements for the vision system are explored via fu...

In this paper we discuss the design and evolution of Trinity College’s ALVIN robot, an autonomous ground vehicle that has participated in the Association for Unmanned Vehicle Systems International Intelligent Ground Vehicle Competition (IGVC) since 2000. The paper first discusses the Trinity Robot Study Team, which has been responsible for developing ALVIN. We then illustrate the four generatio...

In this paper, we present an advanced moving object detection algorithm in urban environment. Our system is designed to reconstruct a three-dimensional world model. In this reconstruction process, we have to separate the ground structures that is static objects and moving objects when the car is running through the town to make the accurate 3-D world model including ground structures only. The ...

A further step could be to develop multifunctional structures, or structures that carry loads and perform system functions. Multifunctional system technologies such as conformal load bearing antenna structures, structurally integrated energy storage/harvesting, mechanised structural systems for morphing vehicle geometry, integrated/distributed sensing and associated technologies form the basis ...

This paper introduces an originally designed tracked robot. This robot belongs to the variable geometry single-tracked vehicle (VGSTV) category. Two active joints are used to control the shape of the vehicle and the tension of the tracks. Thus, it becomes possible to adapt the shape of the robot and the ground/robot contact points to the obstacle by controlling the joints. This paper presents s...

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: naviga...

The Massachusetts Institute of Technology, Boston University and Draper Laboratory have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision proce...