—— This paper describes the preliminary research and implementation of an experimental test bench set up for an electric vehicle Antilock Braking System (ABS)/Traction Control System (TCS) representing the dry, wet and icy road surfaces. A Fuzzy logic based controller to control the wheel slip for electric vehicle antilock braking system is presented. The test facility comprised of an induction...

A robust dynamic feedback controller is designed and implemented, based on the dynamic model of the six-wheel skid-steering RobuROC6 robot, performing high speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main object of this paper is to elaborate a sliding mode controller, proved to be robust enough to ignore the knowledge of the forces within the whee...

Analysis of the power consumption for walking and running robots is particularly important for trajectory planning tasks as it enables motion plans that minimize energy consumption and do not violate power limitations of the robot actuators. This paper builds upon previous work on wheeled skid-steered robots, and for curvilinear motion of the XRL hexapedal robot, presents models of the inner an...

The paper is concerned with the problem of trajectory tracking control of a four-wheeled skid-steered mobile robot in case of non-zero initial position and course (posture) errors. Object of the research, its kinematics and dynamics were described. Structure of robot motion control system containing posture controller and drive controller is shown. Six solutions of the posture controller which ...

Improved stream crossings are needed to reduce construction and maintenance costs and reduce the environmental impacts from low-volume forest roads and skid trails. New designs of timber bridges are cost-effective alternatives for portable stream crossing structures. This paper discusses design criteria for portable timber bridges and presents one design for a portable, longitudinal glued-lamin...

This paper presents a nonlinear observer design method for acceleration control of tail-controlled Skid-to-Turn missiles. A nonlinear observer for wind angles (angle of attack and sideslip angle) is designed using a parametric affine missile model developed by the authors. Using the estimated wind angles, a desired acceleration tracking performance can be obtained by a nonlinear control based o...

This paper describes two methods aimed at improving dead-reckoning accuracy with fiber optic gyroscopes (FOGs) in mobile robots. The first method is a precision calibration procedure for FOGs, which effectively reduces the ill-effects of non-linearity of the scale-factor and temperature dependency. The second method is the implementation of an indirect feedback Kalman filter that fuses the sens...

The outcomes achieved at the completion of a major industry-funded project undertaken by the CSIRO Mining Technology Group to advance the automation capability of continuous mining equipment in underground coal mining operations are reported. The details of a practical steering and guidance solution for autonomous Continuous Miner operation employing novel inertial navigation aiding techniques ...