Defensive Driving Strategy and Control for Autonomous Ground Vehicle in Mixed Traffic

2017 ◽  
pp. 3-44
Author(s):  
Xiang Li ◽  
Jian-Qiao Sun
Keyword(s):  
Mixed Traffic ◽  
Ground Vehicle ◽  
And Control

scholarly journals Modelling and Control of Unmanned Ground Vehicle

2021 ◽  
Author(s):  
Zain UI Abdin ◽  
Taimur Islam Khan ◽  
Mazhar Shabir
Keyword(s):  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
And Control

scholarly journals Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review

2021 ◽  
Vol 10 (4) ◽  
pp. 1893-1904
Author(s):  
Putri Nur Farhanah Mohd Shamsuddin ◽  
Roshahliza M. Ramli ◽  
Muhamad Arifpin Mansor
Keyword(s):  
Line Of Sight ◽  
Control System Design ◽  
Actual Situation ◽  
Simulation Test ◽  
Ground Vehicle ◽  
Control Techniques ◽  
Guidance And Control ◽  
Pure Pursuit ◽  
Heading Estimation ◽  
And Control

An excellent navigation, guidance, and control (NGC) system had a high impact on trajectory tracking and the following scenarios. Both scenarios will include the heading, tangent, and velocity parameters in the computation. However, the control system design problem is not a new issue in the unmanned surface vehicle (USV) and autonomous ground vehivle (AGV) due to this constraint faced by many researchers since early these autonomy developments. Hence, this paper listed and emphasizing the techniques, including techniques implementation, strength, and the algorithm's constraints, a fusion of several techniques implemented for vehicle's stability, a turning ahead, and heading estimation. This paper concerns the similar algorithm used in the USV and AGV. Most of the selected techniques are basic algorithms and have been frequently implemented to control both vehicles' systems. Previous research shows pure pursuit guidance is the most popular technique in AGV to control the degree-of-freedom (DOF) velocity and the dynamic rate (sway, surge, and yaw). Simultaneously, the line of sight (LOS) controller is very compatible with controlling the movement of the USV. In conclusion, the technique's simulation test needs further research that will expose in the actual situation.

Effect of Rear Wing on Time-Averaged Ground Vehicle Wake With Variable Slant Angle

2021 ◽  
Vol 143 (7) ◽  
Author(s):  
Md. Shehab Uddin ◽  
Fazlur Rashid
Keyword(s):  
Separation Bubble ◽  
Flow Property ◽  
Navier Stokes ◽  
Ground Vehicles ◽  
Slant Angle ◽  
Ground Vehicle ◽  
Rear Wing ◽  
Horseshoe Vortices ◽  
And Control ◽  
Ahmed Body

Abstract The slant angle plays a crucial role in the flow property of hatchback ground vehicles. An optimum slant angle is obligatory for better handling the ground vehicles when fitted with a rear wing. In this regard, the variation of time-averaged flow properties around a wing-attached hatchback ground vehicle (Ahmed body) due to a variable slant angle is accessed by this paper. The design includes a scaled Ahmed body as a reference ground vehicle and a rear wing with NACA 0018 profile. The computational studies are executed with Reynolds-averaged Navier–Stokes based k-epsilon turbulence model with nonequilibrium wall function. The vehicle's model is scaled to 75% of the actual model, and analyses are conducted with Reynolds number 2.7 × 106. After the study, it is observed that a 15 deg slant angle is the critical angle for the wing attached state in which the drag coefficient is maximum. After this angle, a sudden reduction of coefficients is observed, where 25 deg is critical for without wing condition. Besides this, the two counter-rotating horseshoe vortices in the separation bubble and side edge c-pillar vortices also behave differently due to the wing's presence. The turbulent kinetic energy variation and the variation in coefficients of surface pressure are also affected by the rear wing attachment. This paper will assist in finding the optimum slant angle for hatchback ground vehicles in the presence of a rear wing. Thus the study will help in increasing stability and control for hatchback ground vehicles.

Modeling and control for hydraulic transmission of unmanned ground vehicle

2014 ◽  
Vol 21 (1) ◽  
pp. 124-129 ◽  
Author(s):  
Yan Wang ◽  
Ze Zhang ◽  
Xu-qing Qin
Keyword(s):  
Unmanned Ground Vehicle ◽  
Modeling And Control ◽  
Ground Vehicle ◽  
And Control

Modelling and control of an unmanned excavator vehicle

2003 ◽  
Vol 217 (4) ◽  
pp. 259-274 ◽  
Author(s):  
Y H Zweiri ◽  
L D Seneviratne ◽  
K Althoefer
Keyword(s):  
Trajectory Tracking ◽  
Control Strategies ◽  
Ground Vehicle ◽  
Development Organization ◽  
New Science ◽  
Dynamic Relationship ◽  
Closed Chain ◽  
Entire Vehicle ◽  
Defence Research ◽  
And Control

This paper investigates the modelling and control of a full-scale excavator vehicle. A detailed analytical model for an unmanned excavator vehicle is developed. The model takes into account the kinematics and dynamics of the mobile platform (vehicle) and the excavation arm (links and hydraulic system). The model describes the dynamic relationship between the operator input commands (fuelling and joystick commands to excavation arm and steering lever) and the trajectories and forces of the excavator vehicle. The dynamic model of the excavation arm system is validated against measured data. The validation of the model is conducted in collaboration with QinetiQ Limited (the new science and technology company formed from the major part of DERA, the British Government's defence research and development organization). A unified model is important for design of control strategies, since in order to move the bucket of a mobile excavator, movements of the entire vehicle are required. A key requirement for automating the excavation task is automated trajectory tracking, and a proportional-integral-derivative (PID) controller for trajectory tracking is developed and tested. It is noted that even though the results presented in this paper are focused on a particular excavator, the research is generic and can be adapted to any tracked ground vehicle with an on-board closed-chain manipulator.

Evalaution and Control of Mirror Sliding Friction of Unmanned Ground Vehicle using Radial Basis Neural Network

2019 ◽  
Vol 11 (5) ◽  
Author(s):  
Xiaohui Yang ◽  
Jian Zhao
Keyword(s):  
Neural Network ◽  
Sliding Friction ◽  
Rbf Neural Network ◽  
Simulation Method ◽  
Vehicle Speed ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Disturbance Term ◽  
And Control ◽  
Msf Model

In order to effectively analyse the mirror sliding friction(MSF) degree of unmanned ground vehicle(UGV) and improve its anti-disturbance performance, a simulation method for MSF degree of UGV based on RBF neural network is proposed. A single-input and double-output RBF neural network is adopted to estimate the uncertain dynamic parameters of the MSF model. The obtained parameters are used to describe the MSF control law based on RBF neural network. An adaptive law based on slow time-varying disturbance characteristics is designed to estimate the total friction disturbance term in the MSF model online. The simulation results show that the proposed method can analyse the MSF degree of unmanned ground vehicle at different speeds and gradients. The influence of gradient on the decline rate of friction degree is greater than that of vehicle speed. The mean error of friction disturbance term calculated by the method is only about 0.9% which has the advantage of low error of friction degree estimation when compared to conventional methods.

Nonmotorized Interference and Control Measures at Signalized Intersections in China

2003 ◽  
Vol 1846 (1) ◽  
pp. 44-49 ◽  
Author(s):  
Heng Wei ◽  
Feng Lu ◽  
Gang Hou ◽  
Abi Mogharabi
Keyword(s):  
Urban Areas ◽  
Motor Vehicle ◽  
Cost Effective ◽  
Signalized Intersections ◽  
Urban Transport ◽  
Control Measures ◽  
Mixed Traffic ◽  
Vehicle Traffic ◽  
Traffic Conditions ◽  
And Control

The adverse effects of bicycles and pedestrians on motor vehicle traffic in at-grade, signalized intersections under mixed-traffic conditions have been observed at several typical intersections in Beijing. Mixed bicycle and motor vehicle traffic is a major characteristic of urban transport in China and has led to serious congestion and capacity reduction in at-grade signalized intersections in urban areas. A method is presented to quantitatively measure nonmotorized effects, and values are recommended for adjusting the model to estimate the capacity of through vehicle lanes. Several temporal segregation solutions to mixed-traffic problems in at-grade signalized intersections are described that have proven cost-effective in several Chinese cities, and suggestions for their application are provided.

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