scholarly journals Towards Energy Efficient Follow Behaviors for Unmanned Ground Vehicles Over Rugged Terrains

2012 ◽  
Author(s):  
Madan M. Dabbeeru ◽  
Joshua D. Langsfeld ◽  
Petr Svec ◽  
Satyandra K. Gupta
Keyword(s):  
State Space ◽  
Energy Efficient ◽  
The State ◽  
Unmanned Ground Vehicles ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicles ◽  
Ground Vehicle ◽  
Rugged Terrain ◽  
Simulation Results ◽  
The Relationship

This paper focuses on the development of a follow behavior for an unmanned ground vehicle (UGV) in collaborative scenarios. The scenario being studied involves a human traveling over a rugged terrain on foot. The UGV follows the human. We present an approach for automatically generating a reactive energy-efficient follow behavior that maps the vehicle’s states into motion goals. We start by partitioning the state space that encodes the relationship between the state of the vehicle and the human’s state, and the environment. For each cell in the partitioned state space, we either directly generate the motion goal for the vehicle to execute or a function that produces the motion goal. The motion goal defines not only the location towards which the vehicle should move but also specifies a zero activity zone around the human within which the vehicle is supposed to slow down and remain stationary to save its energy until it gets outside the margin caused by the movement of the human. Our approach utilizes off-line simulations to assess the performance of the generated behavior. Our simulation results show that the automatically generated follow behavior significantly outperforms a simple conservative tracking rule in terms of distance traveled and violation of proximity constraints. We anticipate that the approach presented in this paper will ultimately enable us to implement energy efficient follow behaviors on physical UGVs.

Motion and Energy Efficiency Parameters of the Unmanned Ground Vehicle

2015 ◽  
Vol 220-221 ◽  
pp. 934-939 ◽  
Author(s):  
Eero Väljaots ◽  
Raivo Sell ◽  
Mati Kaeeli
Keyword(s):  
Energy Efficiency ◽  
Data Acquisition ◽  
Real Time ◽  
Design Process ◽  
Field Tests ◽  
Unmanned Ground Vehicles ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicles ◽  
Ground Vehicle ◽  
Acquisition Method

The paper investigates the data acquisition method and a system of wheeled mobile unmanned ground vehicles (UGV) for characterization and optimization of motion and energy efficiency. This enables to conduct real-time and conditional field tests. The obtained results are used for an advanced methodology framework for robotic design targeted on the development, simulation and testing of vehicle platforms along the entire design process.

scholarly journals Multi-Role Unmanned Ground Vehicle for Bomb Detection and Surveillance

2019 ◽  
Vol 8 (6S2) ◽  
pp. 558-561
Keyword(s):  
Modular Design ◽  
Robotic Arm ◽  
Unmanned Ground Vehicles ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicles ◽  
Metal Detector ◽  
Security Forces ◽  
Ground Vehicle ◽  
Emergency Operations ◽  
Key Aspects

Nowadays the world is very insecure due to various problems like terrorism , natural disasters , emergency health situations and surveillance. Valuable lives are being lost in various situation due to human negligence when carrying out rescue or emergency operations. Even though when our security forces are tireless working to save us everyday , we still have problem to entirely secure ourselves in different situation. To counter these issues we propose a project. Our project is a multi-role capable unmanned ground vehicle. It has three key aspects the modular design , robotic arm and surveillance The current types of unmanned ground vehicles are designed for doing only one specific task like handling a bomb or only carrying payloads but our unmanned ground vehicle is designed to undertake multiple tasks. When required the unmanned ground vehicle can be fitted with a robotic arm , metal detector or storage compartment for carrying supplies and even wireless camera for surveillance .The operations to be performed are done using two control methods RF control and through microcontroller chips. By implementing a mix of modular design, simple and cheap circuitry we can develop an effective and reliable multi-role capable unmanned ground vehicles.

A Perception-Based Fuzzy Route Planing Algorithm for Autonomous Unmanned Ground Vehicles

2018 ◽  
Vol 06 (04) ◽  
pp. 251-266
Author(s):  
Phillip J. Durst ◽  
Christopher T. Goodin ◽  
Cindy L. Bethel ◽  
Derek T. Anderson ◽  
Daniel W. Carruth ◽  
...  
Keyword(s):  
Path Planning ◽  
Urban Area ◽  
Route Planning ◽  
Unmanned Ground Vehicles ◽  
Membership Functions ◽  
Ground Vehicles ◽  
Ground Vehicle ◽  
Sensor Error ◽  
Planning Algorithm ◽  
Error Costs

Path planning plays an integral role in mission planning for ground vehicle operations in urban areas. Determining the optimum path through an urban area is a well-understood problem for traditional ground vehicles; however, in the case of autonomous unmanned ground vehicles (UGVs), additional factors must be considered. For an autonomous UGV, perception algorithms rather than platform mobility will be the limiting factor in operational capabilities. For this study, perception was incorporated into the path planning process by associating sensor error costs with traveling through nodes within an urban road network. Three common perception sensors were used for this study: GPS, LIDAR, and IMU. Multiple set aggregation operators were used to blend the sensor error costs into a single cost, and the effects of choice of aggregation operator on the chosen path were observed. To provide a robust path planning ability, a fuzzy route planning algorithm was developed using membership functions and fuzzy rules to allow for qualitative route planning in the case of generalized UGV performance. The fuzzy membership functions were then applied to several paths through the urban area to determine what sensors were optimized in each path to provide a measure of the UGV’s performance capabilities. The research presented in this paper shows the impacts that sensing/perception has on ground vehicle route planning by demonstrating a fuzzy route planning algorithm constructed by using a robust rule set that quantifies these impacts.

scholarly journals Characteristic phenomena in combustion

1997 ◽  
Vol 1 (2) ◽  
pp. 147-159
Author(s):  
Dirk Meinköhn
Keyword(s):  
State Space ◽  
Reaction Diffusion ◽  
Stationary Solutions ◽  
The State ◽  
State Variable ◽  
Finite Dimensional ◽  
Dimensional State Space ◽  
Singularity Order ◽  
The Relationship ◽  
Stable Stationary Solutions

For the case of a reaction–diffusion system, the stationary states may be represented by means of a state surface in a finite-dimensional state space. In the simplest example of a single semi-linear model equation given. in terms of a Fredholm operator, and under the assumption of a centre of symmetry, the state space is spanned by a single state variable and a number of independent control parameters, whereby the singularities in the set of stationary solutions are necessarily of the cuspoid type. Certain singularities among them represent critical states in that they form the boundaries of sheets of regular stable stationary solutions. Critical solutions provide ignition and extinction criteria, and thus are of particular physical interest. It is shown how a surface may be derived which is below the state surface at any location in state space. Its contours comprise singularities which correspond to similar singularities in the contours of the state surface, i.e., which are of the same singularity order. The relationship between corresponding singularities is in terms of lower bounds with respect to a certain distinguished control parameter associated with the name of Frank-Kamenetzkii.

Proposal of unmanned ground vehicle powered by fuel cell

2021 ◽  
Vol 16 (1) ◽  
pp. 5-13
Author(s):  
Vladimír Popardovský ◽  
◽  
Peter Bondra ◽  
Lukáš Novotný ◽  
◽  
...  
Keyword(s):  
Fuel Cell ◽  
Electric Drive ◽  
Graphical Form ◽  
Unmanned Ground Vehicle ◽  
Simulation Environment ◽  
Ground Vehicle ◽  
Technical Parameters ◽  
Simulation Results ◽  
Physical Quantities ◽  
Over Time

The presented article deals with the design of an unmanned ground vehicle (UGV) with electric drive, using a fuel cell as a source of electricity. The introduction describes the principle of the fuel cell, followed by the design of the UGV propulsion system. The UGV design, taking into account specific technical parameters, is processed into a model in the simulation environment MATLAB / Simulink / Simscape. Simulation results are presented in graphical form of selected physical quantities over time.

Tire-Terrain Normal and Longitudinal Dynamics and Slip Power Losses of an Unmanned Ground Vehicle

2013 ◽  
Author(s):  
Mostafa Salama ◽  
Vladimir V. Vantsevich
Keyword(s):  
Rolling Resistance ◽  
Computational Time ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicles ◽  
Power Losses ◽  
Ground Vehicle ◽  
Longitudinal Dynamics ◽  
Straight Line ◽  
On Line ◽  
Terrain Characteristics

Studies of the tire-terrain interaction have mostly been completed on vehicles with steered wheels, but not much work has been done regarding skid-steered Unmanned Ground Vehicles (UGV). This paper introduces a mathematical model of normal and longitudinal dynamics of a UGV with four skid-steered pneumatic tire wheels. Unlike the common approach, in which two wheels at each side are treated as one wheel (i.e., having the same rotational speeds), all four wheels in this study are independently driven. Thus the interaction of each tire with deformable terrain is introduced as holonomic constraints. The stress-strain characteristics for tire-soil interaction are analyzed based on modern Terramechanics methods and then further used to determine the circumferential wheel forces of the four tires. Contributions of three components of each tire circumferential force to tire slippages are modeled and analyzed when the tire normal loads vary during vehicle straight-line motion. The considered tire-soil characteristics are mathematically reduced to a form that allows condensing the computational time for on-line computing tire-terrain characteristics. Additionally, rolling resistance of the tires is analyzed and incorporated in the UGV dynamic equations. Moreover, the paper describes the physics of slip power losses in the tire-soil interaction of the four tires and applies it to small skid-steered UGV. This study also formulates an optimization problem of the minimization of the power losses in the tire-soil interactions due to the tire slippage.

Shaping the Ship Yaw Response by the State-Space Feedback Gain

2012 ◽  
Vol 566 ◽  
pp. 515-524
Author(s):  
Ramzi Fraga ◽  
Sheng Liu
Keyword(s):  
State Space ◽  
Environmental Conditions ◽  
Pid Controller ◽  
The State ◽  
Feedback Controller ◽  
Feedback Gain ◽  
Simulation Results ◽  
Linear State

Ship autopilots are usually designed based on PID controller because of the simplicity and the ease of construct. However its performance in various environmental conditions is not as good as desired. This disadvantage can be decreased by designing a linear state space feedback controller. This paper presents the utility of the state-space feedback controller to stabilize the system and shaping its response as desired. The simulation results for a 4DOF ship with real parameters show the effectiveness of the feedback controller in comparison with ordinary PID ship autopilots.

Path Planning for Vehicle with Constraint on Turning Radius among Obstacles

2010 ◽  
Vol 450 ◽  
pp. 128-132 ◽  
Author(s):  
Neng Jian Wang ◽  
De Fu Zhang ◽  
Li Jie Zhou
Keyword(s):  
Path Planning ◽  
State Space ◽  
Free Path ◽  
The State ◽  
Planning Method ◽  
Control Set ◽  
Simulation Results ◽  
Turning Radius ◽  
Feasible Path ◽  
Radius Constraint

A path re-planning method is proposed based on a discretization of the state space, aiming at finding a collision-free path for the vehicle which is capable of forward and backward motion when changes occur in the environment. A Control Set with Turning Radius Constraint (CSTRC) is formulated and the feasibility of paths in CSTRC is also proved out. The A* search is applied to produce a feasible path considering the distance and angle between the vehicle and the target pose. Path re-planning can be carried out efficiently when the environment changes. Simulation results demonstrate that the method realizes path re-planning effectively and the path satisfy the turning radius constraint.

A Multi-Objective Optimization Approach for Multi-Vehicle Path Planning Problems considering Human-Robot Interactions

2022 ◽  
pp. 1-14
Author(s):  
Venkata Sirimuvva Chirala ◽  
Saravanan Venkatachalam ◽  
Jonathon Smereka ◽  
Sam Kassoumeh
Keyword(s):  
Path Planning ◽  
Human Robot Interaction ◽  
Planning Problem ◽  
Optimization Approach ◽  
Unmanned Ground Vehicles ◽  
Ground Vehicles ◽  
Robot Interaction ◽  
Ground Vehicle ◽  
Multi Objective ◽  
Vehicle Path

Abstract There has been unprecedented development in the field of unmanned ground vehicles (UGVs) over the past few years. UGVs have been used in many fields including civilian and military with applications such as military reconnaissance, transportation, and search and research missions. This is due to their increasing capabilities in terms of performance, power, and tackling risky missions. The level of autonomy given to these UGVs is a critical factor to consider. In many applications of multi-robotic systems like “search-and-rescue” missions, teamwork between human and robots is essential. In this paper, given a team of manned ground vehicles (MGVs) and unmanned ground vehicles (UGVs), the objective is to develop a model which can minimize the number of teams and total distance traveled while considering human-robot interaction (HRI) studies. The human costs of managing a team of UGVs by a manned ground vehicle (MGV) are based on human-robot interaction (HRI) studies. In this research, we introduce a combinatorial, multi objective ground vehicle path planning problem which takes human-robot interactions into consideration. The objective of the problem is to find: ideal number of teams of MGVs-UGVs that follow a leader-follower framework where a set of UGVs follow an MGV; and path for each team such that the missions are completed efficiently.

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