scholarly journals A Guidance and Control Algorithm for Scent Tracking Micro-Robotic Vehicle Swarms

1998 ◽  
Vol 120 (3) ◽  
pp. 353-359 ◽  
Author(s):  
J. L. Dohner
Keyword(s):  
Point Source ◽  
Control Algorithm ◽  
Social Rank ◽  
Complex Environments ◽  
Guidance And Control ◽  
New Concepts ◽  
Robotic Vehicle ◽  
Cooperative Guidance And Control ◽  
Cooperative Vehicles ◽  
And Control

Cooperative micro-robotic scent tracking vehicles are designed to collectively “sniff out” locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper, a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

scholarly journals Integrated Guidance and Control of Multiple Interceptors with Impact Angle Constraints Considered

2019 ◽  
Vol 37 (2) ◽  
pp. 273-282
Author(s):  
Xiang Liu ◽  
Xiaogeng Liang
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Control Method ◽  
Impact Angle ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint ◽  
Distributed Cooperative Control

To solve the multi-interceptor coordination problem and to intercept the target with impact angle constraint, a novel distributed cooperative control algorithm with impact angle constraint based on integrated guidance and control is proposed. First, the mathematic model of integrated guidance and control is established by combining the interceptor-target relative motion model with the dynamic equation of the interceptor on pitch plane. The time varying gain extended state observer is developed to estimate and compensate the unknown disturbance. Based on the estimated value and fast nonsingular dynamic surface sliding control method, the IGC algorithm of leader is given; Then, based on distributed cooperative "leader-follower" model, the cooperative control strategy of multi-interceptor is designed, and gives out speeds in two directions on pitch plane, which are transformed to the command of total velocity and trajectory angle based on kinematic relations. Finally, to control the follower, the time varying gain extended state observer and the dynamic surface sliding control method are adopted. The simulation results demonstrate the effectiveness of the distributed cooperative control algorithm.

Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels

2016 ◽  
Vol 13 (04) ◽  
pp. 1650020
Author(s):  
Young-Jae Ryoo ◽  
Dae-Yeong Im ◽  
Hyun-Rok Cha
Keyword(s):  
Control Algorithm ◽  
Digital Design ◽  
Steering Wheel ◽  
Personal Mobility ◽  
Frame Design ◽  
Directional Motion ◽  
Driving Wheel ◽  
Robotic Vehicle ◽  
Rapid Prototyping Model ◽  
And Control

In this paper, a robotic vehicle for a personal mobility with electric-driven three-wheels is proposed. Before designing the proposed robotics vehicle, omni-directional motions using special wheels, active caster wheels, and active steerable driving wheels are studied. For design of the proposed vehicle, we discuss about active steerable wheel design, and vehicle’s frame design. The omni-directional motion through the digital design exploration of the vehicle using active driving and steering wheel robot technology is examined. As the major mechanical components, an active steerable driving wheel, in-wheel motors, brakes, suspensions, and control systems are described. The design is established by rapid prototyping model of omni-directional motion. The steering geometry and control algorithm for the prototype of the proposed personal mobility are experimented.

scholarly journals Automated Driving using Shared and Cooperative Guidance and Control: Revisiting past Research with a new Model

2016 ◽  
Vol 49 (19) ◽  
pp. 165-170 ◽  
Author(s):  
E. Altendorf ◽  
M. Baltzer ◽  
Y. Canpolat ◽  
D. Lopez ◽  
C. Schreck ◽  
...  
Keyword(s):  
Past Research ◽  
Automated Driving ◽  
New Model ◽  
Guidance And Control ◽  
Cooperative Guidance ◽  
Cooperative Guidance And Control ◽  
And Control

Implementation of PILS for top-attack guidance and control algorithm

2007 ◽  
Author(s):  
Pil-Chang Son ◽  
Min-Cheol Song ◽  
Beomcheon Kim ◽  
Cheon-Kyun Oh ◽  
Young-Do Parkl
Keyword(s):  
Control Algorithm ◽  
Guidance And Control ◽  
And Control
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