Landing mission concepts that are being developed for exploration of solar system bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe, soft landing at the pre-designated sites. Data from the vehicle’s Inertial Measurement Unit will not be sufficient due to...

This paper presents a finite element method (FEM) framework for the dynamic analysis of coupled vehicle—bridge systems under nearfield /far-field ground motions. A train car with two bogies is assumed to be represented sufficiently by a discrete, rigid multi-body system with thirty-eight degrees of freedoms (DOFs). The normal Hertzian contact theory and the tangential Kalker linear theory modif...

This paper describes the design of a fuzzy controlled autonomous robot, incorporating Genetic Algorithms (GA) based rule learning, for use in an outdoor agricultural vehicle for path and edge following activities which involve spraying insecticide, distributing fertilisers, ploughing, harvesting, etc. The robot has to navigate under different ground and weather conditions offering complex probl...

This paper proposes an airborne behaviour monitoring methodology of ground vehicles based on a statistical learning approach with domain knowledge given by road map information. To monitor and track the moving ground target using UAVs aboard a moving target indicator, an interactive multiple model (IMM) filter is firstly applied. The IMM filter consists of an on-road moving mode using a roadcon...

The evaluation and control of the trains induced vibrations needs even more attention in the case of underground tracks which passes near to monuments and historical sites. The rail corrugations which occur due to the wheels’ impulse loads during the operation period of underground railway tracks, usually amplify the ground borne noise and vibration. In the current study, the mentioned phenomen...

In recent years, much progress has been made in outdoor autonomous navigation. However, safe navigation is still a daunting challenge in terrain containing vegetation. In this paper, we focus on the segmentation of ladar data into three classes using local three-dimensional point cloud statistics. The classes are: ”scatter” to represent porous volumes such as grass and tree canopy, ”linear” to ...

In this research, a novel method of reconstructing 3D urban scene using vehicle-borne laser range scanners is proposed. Two one-dimensional laser range scanners are mounted on the roof of a vehicle, doing horizontal and vertical profiling respectively. As the vehicle moves ahead, a horizontal and vertical range profile of the surroundings is captured at each odometer trigger. The freedom of veh...

Abstract. This paper describes the implementation of a decentralized architecture for autonomous teams of aerial and ground vehicles engaged in active perception. We provide a theoretical framework based on an established approach to the underlying sensor fusion problem [3]. This provides transparent integration of information from heterogeneous sources. The approach is extended to include an i...

A method of vehicle control is described. Visual feedback from a microsaccadic tracker is used to provide a docking competence. The vehicle is thereby capable of arriving at goal position with a specified heading angle. The vehicle uses a beacon to estimate it's trajectory and position in the ground plane. This information is used to control the vehicle to move to a "via-point". Complex traject...

Since the vehicle dynamics is concerned with controllability and stability of vehicle, it is important in design of a ground vehicle. The modeling of the vehicle with the analysis of the dynamic response of the mathematical model have been examined in a large number of investigations. In this paper overview of various works are done. This paper tries to give an idea about the previous researche...