Increasing levels of autonomy impose more pronounced performance requirements for unmanned ground vehicles (UGV). Presence model uncertainties significantly reduces a vehicle when the is traversing an unknown terrain or inertial parameters vary due to mission schedule external disturbances. A comprehensive mathematical skid steering tracked presented in this paper and used design control law. A...

The United States Army began developing Unmanned Ground Vehicles (UGV) in the early 1900’s. Concurrently, researchers developed and enhanced passenger and commercial ground vehicles. Although significant progress has been made for improving vehicle mobility for all ground vehicles throughout the past century, mobility has lacked a concise mutually agreed definition and analytical standardized c...

This paper addresses adaptive, on-line path planning of an autonomous underwater vehicle and presents a GA-based method for it. It is an important module of SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions) which is being developed at the University of Hawaii and will be capable of exploring the ocean at up to 6,000 m depth. In SAUVIM, a genetic algorithm (GA) is employed in...

In this paper we deal with three consecutive planning stages in public transportation: Line planning (including line pool generation), timetabling, and vehicle scheduling. These three steps are traditionally performed one after another in a sequential way often leading to high costs in the (last) vehicle scheduling stage. In this paper we propose three different ways to “look ahead”, i.e., to i...

in this study, stability control of a three-wheeled vehicle with two wheels on the front axle, a three-wheeled vehicle with two wheels on the rear axle, and a standard four-wheeled vehicle are compared. for vehicle dynamics control systems, the direct yaw moment control is considered as a suitable way of controlling the lateral motion of a vehicle during a severe driving maneuver. in accordance...

We have developed a lane change aid system (LCAS), which detects vehicles behind in adjacent lanes with multi-line CCD sensors and informs the driver of vehicle location with a head-up display (HUD). Instead of processing camera images directly, a multi-line CCD sensor contains the pairs of line CCDs and measures two-dimensional distance distribution by comparing the brightness on line CCDs. To...