Analysis of the Effects of Path Properties on Autonomous Motion Control of a Hydraulic Tracked Vehicle

2018 ◽  
Author(s):  
Teemu Mononen ◽  
Mohammad M. Aref ◽  
Jouni Mattila
Keyword(s):  
Motion Control ◽  
Tracked Vehicle ◽  
Autonomous Motion ◽  
Path Properties

Modeling of the motion control system of an unmanned tracked vehicle with onboard gear units

2021 ◽  
pp. 15-19
Author(s):  
Keyword(s):  
Control System ◽  
Internal Combustion Engine ◽  
Motion Control ◽  
Combustion Engine ◽  
Internal Combustion ◽  
Control Device ◽  
External Control ◽  
Programmable Logic ◽  
Cruise Control ◽  
Tracked Vehicle

The results of a study of the control processes of an automated transmission and internal combustion engine of a transport unmanned tracked vehicle when the speed of movement is set by an external control device are presented. Keywords: unmanned tracked vehicle, algorithm, motion control, onboard gear unit, programmable logic controller, cruise control. [email protected]

An energy-time optimal autonomous motion control framework for overhead cranes in the presence of obstacles

2020 ◽  
pp. 095440622095450
Author(s):  
Xinwei Wang ◽  
Jie Liu ◽  
Xianzhou Dong ◽  
Haijun Peng ◽  
Chongwei Li
Keyword(s):  
Motion Control ◽  
Trajectory Tracking ◽  
Overhead Cranes ◽  
Control Framework ◽  
Weighted Matrix ◽  
Autonomous Motion ◽  
Avoidance Condition ◽  
Time Optimal ◽  
Predictive Controller ◽  
Time And Energy

This paper focuses on the autonomous motion control of 3-D underactuated overhead cranes in the presence of obstacles, and an “offline motion planning + online trajectory tracking” framework is developed. In the motion planner, to meet the balance between transfer time and energy consumption, the transfer mission is formulated as an energy-time hybrid optimal control problem. And a simple and conservative collision-avoidance condition is derived. To achieve fast and robust calculations, an iterative procedure that determines optimal terminal time based on the secant method is developed. Finally, to realize the high-precision trajectory tracking and fast residual sway suppression, a model predictive controller with a piecewise weighted matrix is designed. Numerical simulation demonstrates that the discussed framework is effective.

Telerobotic Control System to Enhance Rescue Operations for Arm-Equipped Tracked Vehicle HELIOS IX

2014 ◽  
Vol 26 (1) ◽  
pp. 17-33 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Koji Ueda ◽  
Hiroaki Ishida ◽  
Michele Guarnieri ◽  
...  
Keyword(s):  
Control System ◽  
Motion Planning ◽  
Autonomous Robot ◽  
Sensor System ◽  
Tracked Vehicle ◽  
Rescue Robot ◽  
Door Opening ◽  
Shared Autonomy ◽  
Teleoperation System ◽  
Autonomous Motion

This paper focuses on a telerobotic system in which an operator executes tasks by operating an arm-equipped tracked vehicle, HELIOS IX. It is necessary to develop an assisting sensor system, teleoperation system, and semi-autonomous robot motions to enhance teleoperationability, because HELIOS IX has many DOFs and unique mechanisms. To realize this development, the authors discuss the required specifications of the sensors, teleoperation system, and semi-autonomous motion planning. First, the sensor system for assistance and teleoperation system are described. Next, terrain-adaptive, tracked locomotion with no additional sensors is explained and verified through terrain traversing experiments. Then, the authors discuss the telerobotic system for the door opening task, a system based on Shared Autonomy, and demonstrate that HELIOS IX can successfully perform the door opening task. Finally, we describe what we have learned and the problems involved in the development of the telerobotic system of the HELIOS IX rescue robot.

A Novel EPT Autonomous Motion Control Framework for an Off-axle Hitching Tractor-trailer System with Drawbar

2020 ◽  
pp. 1-1
Author(s):  
Jie Liu ◽  
Xianzhou Dong ◽  
Junyu Wang ◽  
Oskar Ljungqvist ◽  
Chen Lu ◽  
...  
Keyword(s):  
Motion Control ◽  
Control Framework ◽  
Autonomous Motion
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