scholarly journals Motion Control of a 4WS4WD Path-Following Vehicle: Further Studies on Steering and Driving Models

2021 ◽  
Vol 2021 ◽  
pp. 1-25
Author(s):  
Zhonghua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yanhai Xu ◽  
Yiqiang Peng ◽  
...  
Keyword(s):  
Motion Control ◽  
Deep Level ◽  
Dynamic Environment ◽  
Path Following ◽  
Complex Problem ◽  
Level Control ◽  
Control Models ◽  
Path Following Control ◽  
Vehicle Path ◽  
Vehicle Dynamic Model

Further research on motion control of a 4WS4WD path-following vehicle is carried out in this paper. Focuses are placed on understanding and testing the vehicle path-following control models developed previously at a deep level. Control models are in relation to parameters introduced, and the effects of these parameters are discovered. Control models are interpreted by dynamic simulation using a 3DOF vehicle model with three cases. Three kinds of planned paths are considered in these cases to test control performances, which include the straight, circular, and sinusoidal paths. Interesting dynamic results are obtained and analyzed qualitatively, e.g., various steering modes. Simulation studies are extended with consideration of a fine vehicle dynamic model established in CarSim and a complex path composed of straight and curved segments. Control models are examined in a complex problem, and results obtained show that they are validated with robustness in dynamic environment.

scholarly journals Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Zhonghua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yanhai Xu ◽  
Yiqiang Peng ◽  
...  
Keyword(s):  
Dynamic Model ◽  
Motion Control ◽  
Degrees Of Freedom ◽  
Path Following ◽  
Coordinate Space ◽  
Vehicle Model ◽  
Control Models ◽  
Path Following Control ◽  
Vehicle Path ◽  
And Control

This paper deals with a four-wheel-steering four-wheel-driving (4WS4WD) vehicle under the path-following control. Focuses are placed on the motion control of the vehicle, and the drive forces and steering angles for achieving accurate path-following by the vehicle are determined. In this research, a nonlinear vehicle model of three degrees of freedom (DOFs) is used. The vehicle path-following dynamics are modeled using the classical mass-damper-spring vibration theory, which is described by three ordinary differential equations of second order with lateral, heading and velocity deviations, and control parameters. Combined with the vehicle path-following dynamic model, the nonlinear vehicle dynamic model is decoupled in generalized coordinate space. The required drive forces and steering angles for the vehicle path-following controllers are thus calculated and control models are obtained. Theoretical analysis for steering and driving control models is also carried out. It discloses that control models can maintain good performance against uncertainties. The vehicle path-following control is exhibited by dynamic simulation in CarSim with consideration of a complex vehicle model and a variable-curvature planned path. Numerical results obtained are analyzed and show control models have capable of dealing with a complex path-following problem. This paper provides a new insight into understanding path-following control of a 4WS4WD vehicle at the generalized vibration level.

Vector field path-following control for a small unmanned ground vehicle with Kalman filter estimation

2020 ◽  
pp. 095440542097734
Author(s):  
Yun-Ping Sun ◽  
Yen-Chu Liang
Keyword(s):  
Kalman Filter ◽  
Vector Field ◽  
Design Method ◽  
Path Following ◽  
Labor Cost ◽  
Design Parameters ◽  
Ground Vehicles ◽  
Level Control ◽  
Path Following Control ◽  
And Control

Industry 4.0 accelerates the growth of unmanned technology that reduces the labor cost and creates high automation in manufacturing system. The automated guided vehicle which is capable of transferring materials or executing tasks without human intervention becomes a necessary system for modern unmanned factories. The study explores the guidance and control design to accomplish the common task of path-following control for unmanned ground vehicles (UGV). A complete design method is presented that includes the lateral-directional autopilot, the vector field guidance for path-following, and multi-sensor fusion. The lateral-directional autopilot produces the low-level control action, the higher level guidance indicates the course direction of UGV at every spatial point based on the lateral path error, and the accurate UGV position relies on the estimate obtained by dynamically fusing sensors with extended Kalman filter. The design parameters in every stage are analyzed theoretically first and then fine-tuned in practice. The process is clearly described in this study, and the field test results are discussed in details to verify the performance of the proposed method and demonstrate the superiority over others.

scholarly journals Robotic Forklift for Stacking Multiple Pallets with RGB-D Cameras

2021 ◽  
Vol 33 (6) ◽  
pp. 1265-1273
Author(s):  
Ryosuke Iinuma ◽  
Yusuke Hori ◽  
Hiroyuki Onoyama ◽  
Yukihiro Kubo ◽  
Takanori Fukao ◽  
...  
Keyword(s):  
Path Following ◽  
Region Growing ◽  
Complex Problem ◽  
Control Law ◽  
Depth Cameras ◽  
Depth Data ◽  
Sensor Position ◽  
Path Following Control ◽  
Position And Orientation ◽  
And Storage

We propose a robotic forklift system for stacking multiple mesh pallets. The stacking of mesh pallets is an essential task for the shipping and storage of loads. However, stacking, the placement of pallet feet on pallet edges, is a complex problem owing to the small sizes of the feet and edges, leading to a complexity in the detection and the need for high accuracy in adjusting the pallets. To detect the pallets accurately, we utilize multiple RGB-D (RGB Depth) cameras that produce dense depth data under the limitations of the sensor position. However, the depth data contain noise. Hence, we implement a region growing-based algorithm to extract the pallet feet and edges without removing them. In addition, we design the control law based on path following control for the forklift to adjust the position and orientation of two pallets. To evaluate the performance of the proposed system, we conducted an experiment assuming a real task. The experimental results demonstrated that the proposed system can achieve a stacking operation with a real forklift and mesh pallets.

scholarly journals AUXILIARY FUNCTION GRADIENT APPROACH TO MARINE VEHICLE PATH-FOLLOWING CONTROL

2020 ◽  
pp. 27-36
Author(s):  
Alexander A. Dyda ◽  
Ksenya N. Chumakova ◽  
Igor I. Pushkarev
Keyword(s):  
Main Idea ◽  
Path Following ◽  
Auxiliary Function ◽  
Smooth Functions ◽  
Auxiliary Functions ◽  
Path Following Control ◽  
Vehicle Path ◽  
The Given ◽  
Gradient Approach ◽  
Marine Vehicle

This paper develops an approach to solving the problem of controlling the movement of a ship along a route. It is assumed that the route is specified using waypoints connected by line segments. The main idea of ​​the developed approach is to construct a set of auxiliary smooth functions having an extremum (maximum) on the corresponding sections of the route. The gradient vectors of the selected auxiliary functions are directed towards the corresponding section of the vessel's route. The sum of the vectors of the gradient of the auxiliary functions and the vector that specifies the direction on the selected section of the route determines the desired course of the vessel movement. It is shown that the chosen constructing algorithm for the desired vessel course ensures its output to the given trajectory.

Yaw-rate-tracking-based Automated Vehicle Path Following: An MRAC Methodology with A Closed-Loop Reference Model

2021 ◽  
pp. 1-17
Author(s):  
Xingyu Zhou ◽  
Zejiang Wang ◽  
Heran Shen ◽  
Junmin Wang
Keyword(s):  
Closed Loop ◽  
Reference Model ◽  
Path Following ◽  
Control Law ◽  
Hardware In The Loop ◽  
Control Loops ◽  
Path Following Control ◽  
Speed Up ◽  
Vehicle Path ◽  
Model Reference Adaptive

Abstract Concerning automated vehicles, various path-following controllers have been designed by the model reference adaptive control (MRAC) approach. Through appropriate Lyapunov redesigns, asymptotical stability and signal boundedness are ensured for the path-tracking control loops. However, transient behaviors of the closed-loop responses are seldom considered in the context of MRAC synthesis. To bridge the foregoing gap, a closed-loop reference model-based MRAC, which yields an improved transient performance compared with a traditional MRAC, is exploited to synthesize a vehicular path following control law. Besides, an infinitely differentiable projection operator is complemented to the control parameters' adaptation schemes for estimation speed-up and robustness enhancement. Hardware-in-the loop experiments are used to evaluate the proposed method and to demonstrate its improvement over some conventional MRAC designs.

Autonomous Motion Control of a Wheel Loader

2009 ◽  
Author(s):  
Reza Ghabcheloo ◽  
Mika Hyvo¨nen ◽  
Jarno Uusisalo ◽  
Otso Karhu ◽  
Juha Ja¨ra¨ ◽  
...  
Keyword(s):  
Motion Control ◽  
Field Experiments ◽  
System Development ◽  
Path Following ◽  
Hardware In The Loop ◽  
Wheel Loader ◽  
Path Following Control ◽  
Test Platform ◽  
Autonomous Motion ◽  
Semi Empirical

This paper addresses the problem of autonomous control of a hydraulically actuated articulated-frame-steering (AFS) mobile machine— a wheel loader. Our autonomous motion control system includes a mission planning graphical user interface, an improved odometry algorithm and a GPS device for navigation purposes, together with a model based path-following control strategy, and speed control. The test platform is a small prototype wheel loader based on Avant-635 whose hydraulic components are substituted by electrically controlled equivalents. System development and preliminary calibrations are done using GIMsim— an elaborated semi-empirical hardware-in-the-loop simulator. Some field experiments are presented that demonstrate satisfactory performance of the system at this stage. Further tunings are required to reach a desired performance.

Vehicle path following control in the presence of driver inputs

2013 ◽  
Vol 227 (2) ◽  
pp. 115-132 ◽  
Author(s):  
Behrooz Mashadi ◽  
Mehdi Mahmoodi-K ◽  
Amir H Kakaee ◽  
Rana Hosseini
Keyword(s):  
Path Following ◽  
Path Following Control ◽  
Vehicle Path

scholarly journals Motion control of nonholonomic robots at low speed

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090255
Author(s):  
Ľubica Miková ◽  
Alexander Gmiterko ◽  
Michal Kelemen ◽  
Ivan Virgala ◽  
Erik Prada ◽  
...  
Keyword(s):  
Differential Equation ◽  
Computer Simulation ◽  
Motion Control ◽  
Design Method ◽  
Control Design ◽  
Path Following ◽  
Low Speed ◽  
Nonholonomic Robots ◽  
Virtual Vehicle ◽  
Vehicle Path

Many applications in robotics require precise tracking of the prescribed path. The aim of this article is to develop and verify by computer simulation a control design method which ensures that the “output” of the robot will move along a prescribed path. A virtual vehicle approach algorithm was used to track a predefined vehicle path. The idea behind this algorithm is that the movement of a virtual vehicle on a predefined path is controlled by a differential equation whose input is a control deviation representing the distance between a real and a virtual vehicle. The main advantage of the path-following approach is that, based on this approach, the feedback realized is invariant to the path.

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