scholarly journals CONTROL SYSTEM STRUCTURE AND LOGIC FOR UNMANNED VEHICLES

2021 ◽  
Vol 23 (4) ◽  
pp. 96-102
Author(s):  
D.E. Chickrin ◽  
Keyword(s):  
Control System ◽  
Control Unit ◽  
Vehicle Control ◽  
Unmanned Vehicles ◽  
System Structure ◽  
Unmanned Vehicle ◽  
Control Subsystem

The article presents the author developed requirements for the key subsystem of the unmanned vehicle: the control subsystem, with the details of the unmanned vehicle control modes; proposals are given for the implementation of a three-level unmanned vehicle control unit, according to the concept of a "modular crate" proposed by the author.

UNMANNED VEHICLE CONTROL SYSTEM BASED ON FUZZY CLUSTERING. PART 1. VEHICLE MOVEMENT MODEL

2020 ◽  
pp. 3-12
Author(s):  
A. S. Akopov ◽  
N. K. Khachatryan ◽  
L. A. Beklaryan ◽  
A. L. Beklaryan
Keyword(s):  
Control System ◽  
Fuzzy Clustering ◽  
Personal Space ◽  
Computational Procedure ◽  
Unmanned Vehicles ◽  
Final Decision ◽  
Clustering Methods ◽  
Movement Model ◽  
Unmanned Vehicle ◽  
Vehicle Movement

A control system for ground unmanned vehicles is presented, using fuzzy clustering methods for making decisions at an individual level. A new approach to the management of ground unmanned vehicles has been developed, taking into account the state of vehicles in a dense traffic, in particular, the presence of road accidents, the appearance of traffic congestion (high density clusters), etc. An important advantage of this approach is the description of the rules for the interaction of various agents with each other and the external environment within the framework of the final decision-making system of individual agents without the need for a complex computational procedure for identifying the potentials of various forces of the system as a whole. In particular, such rules can be described using systems of differential equations with a variable structure, taking into account all the variety of possible interactions and collisions (potential collisions) between different (moving or stationary) objects. A key feature of the proposed model is the use of the concept of the radius of the agent’s personal space, which explains the effects of turbulence and crush. In this case, the radius of the agent’s personal space is a function of the density of vehicles. As a result, a model of unmanned vehicle movement is developed.

scholarly journals Assessment of Hydrological Inspection using Development Low-Cost Boat Application in University Sultan Zainal Abidin (UniSZA) Lake, Terengganu, Malaysia

2019 ◽  
Vol 8 (2S3) ◽  
pp. 205-212
Keyword(s):  
Control System ◽  
Low Cost ◽  
Control Unit ◽  
Cost Effective ◽  
Unmanned Vehicles ◽  
Range Finder ◽  
Hydrographic Survey ◽  
Motor Control System ◽  
Reduce Risk ◽  
Communication Equipment

Unmanned vehicles may provide less time consume and cost-effective methods of gathering hydrographic survey data compared to traditional, manned survey vessels. A remote-controlled Unmanned Surface Vehicle (USV) was outfitted with range finder, depth transducer, and velocity current meter for the purpose of conducting a hydro survey. The purpose of study to describes a project for the development of Unmanned Survey Vessel (USV) platform useful for hydrological survey. The control unit includes a motor control system, communication equipment, and a simple radio control system installed to enables an operator to remotely control the boat. The motor radio control system, the measurement equipment (sonar depth, current meter, range finder) used in data collecting activities. The result showed the validation values of Hydro Survey Boat Version 1 and Hydro Survey Boat Version 2, the estimated validation of river discharge (Q) recorded 0.0373 m3/s. The significant differences of Q between Hydro Survey Boat Version 1 as 0.0853 m3/s (56.3%) and Hydro Survey Boat Version 2 as 0.042 m3/s (11.2%) which is the Hydro Survey Boat Version 2 recorded more accurate readings compared Hydro Survey Boat Version 1. There are several advantages of this project which is reducing cost, improve efficiency, and reduce risk during hydrology survey. The development survey boat USV is innovation technology and it will improved the hydrological method

Intelligent Detection Method for Roll Stability of Unmanned Vehicle based on Fuzzy Control

2021 ◽  
Vol 13 (4) ◽  
Author(s):  
Jun Chen
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Detection Method ◽  
Lower Layer ◽  
Unmanned Vehicles ◽  
Roll Angle ◽  
Detection Accuracy ◽  
Unmanned Vehicle ◽  
Roll Control ◽  
Intelligent Detection

When the unmanned vehicle is disturbed by the outside world or carries out dangerous actions such as steering and continuous lane changing, the yaw stability of the unmanned vehicle decreases and the dangerous situation such as rollover is easy to occur. In this paper, the intelligent detection method for roll stability of unmanned vehicles based on fuzzy control is studied. The roll control system of the unmanned vehicle based on a double-layer control strategy is designed. The roll stability of the unmanned vehicle is controlled by an upper-layer fuzzy controller and lower-layer differential braking control. The dynamic model and tire model are built in MATLAB/Simulink to restore the running characteristics of unmanned vehicles. Based on the operation characteristics, the roll stability of the unmanned vehicle’s roll control system based on fuzzy control is tested from three aspects: steady-state response, roll stability and dynamic stability coefficient. The experimental results show that the transverse load’s transfer rate of the proposed method is reduced by more than 0.2% compared with the contrast method, the yaw angular velocity, centroid’s roll angle and roll angle measured under the two working conditions are closer to the actual values, which shows that the method has better control effect and detection accuracy.

scholarly journals A Software-in-the-Loop Simulation of Vehicle Control Unit Algorithms for a Driverless Railway Vehicle

2021 ◽  
Vol 11 (15) ◽  
pp. 6730
Author(s):  
Michele Vignati ◽  
Nicola Debattisti ◽  
Maria Laura Bacci ◽  
Davide Tarsitano
Keyword(s):  
Time Scale ◽  
Test Bench ◽  
Electronic Control Unit ◽  
Control Unit ◽  
Vehicle Control ◽  
Unmanned Vehicles ◽  
Control Algorithms ◽  
Railway Vehicle ◽  
High Time Resolution ◽  
Hybrid Powertrain

The realization of the first prototype of a vehicle requires several tests of the algorithms implemented on the electronic control unit (ECU). This represents an important step for conventional vehicles, which becomes fundamental when dealing with unmanned vehicles. Since there is no human supervision, most critical tasks are handled by the control unit, which results in higher complexity for the control algorithms. In this work, a software-in-the-loop (SiL) test bench is used to validate the control algorithms of a vehicle control unit (VCU) for a driverless railway vehicle (DLRV). The VCU manages the control of the traction motors, pneumatic braking systems, and range extender, as well as control of the hybrid powertrain configuration to guarantee a high level of availability via the use of redundant systems. The SiL test bench has been developed in a Simulink real-time environment, where the vehicle model is simulated along with its fundamental subsystems. The model communicates with the VCU through a CAN bus protocol in the same way that it will operate with a real vehicle. The proposed method can be used to simulate many mission profiles for the DLRV, which may last several hours each. Moreover, this kind of test bench ensures a high time resolution, which allows one to find solutions for problems which occur with a time scale that is much smaller than the simulation time scale.

Visual Intelligent Vehicle Control System’s Design Based on PC9S12XS128 MCU

2012 ◽  
Vol 562-564 ◽  
pp. 1571-1574
Author(s):  
Yi Lun Han ◽  
Zong Bing Zhang ◽  
Xue Lei Wen
Keyword(s):  
Control System ◽  
Control Unit ◽  
Control Program ◽  
Vehicle Control ◽  
Experimental Results ◽  
Intelligent Vehicle ◽  
Motor Drive ◽  
Power Module ◽  
The Core

In this paper, PC9S12XS128 MCU produced by Freescale Semiconductor Co., Ltd is used as the core control unit to designed a intelligent vehicle, which can be free to follow the line of travel. The main control system including motor drive module, server drive module, the path identification module, power module, etc..Through compare a variety of hardware control program, use the best program to take control of car model’s speed and direction. Experimental results show that the intelligent vehicle designed can antomatic driving on the path of human plan accuracy.

Design about Automatic Vehicles Following System for Field Vibrator Motorcade

2013 ◽  
Vol 860-863 ◽  
pp. 2654-2659
Author(s):  
Shu Qing Li ◽  
Huan Zhang ◽  
Zhi Fei Tao
Keyword(s):  
Control System ◽  
Low Cost ◽  
Unmanned Vehicles ◽  
Good Effect ◽  
Unmanned Vehicle ◽  
Distance Control ◽  
Key Points ◽  
Vehicle Platoon ◽  
Real Time Information ◽  
And Control

As is known that the key points of unmanned vehicles are environmental perception, path planning and vehicles control. In order to achieve the goal of unmanned operations of the vibrator motorcade in the field, a low-cost automatic vehicles following system was established, which provided with environmental monitoring, real-time information feedback and control. And the designed system simplified the algorithm on the premise of ensuring the control accuracy and had a good effect on vehicles distance control with the help of Visual Studio. Finally, the LabVIEW program was programmed to guide the practical vibrator motorcade test, implementing the requirements of unmanned vehicle platoon control system. The results show that the designed vehicles distance control system works well in security distance control and meets the needs of vibrator motorcade, providing feasible reference for future specific applications of unmanned vehicle platoon in practice.

scholarly journals ON THE ISSUE OF DEVELOPING CONCEPTUAL STATEMENTS OF TECHNICAL FLEET REMOTE CONTROL SYSTEM

2019 ◽  
pp. 7-15
Author(s):  
Sergey Vitalievich Rudykh ◽  
Artem Aleksandrovich Butsanets ◽  
Vladimir Vladimirovich Karetnikov
Keyword(s):  
Control System ◽  
Remote Control ◽  
Water Transport ◽  
System Development ◽  
Information Service ◽  
Unmanned Vehicles ◽  
System Structure ◽  
Inland Waterways ◽  
Remote Control System ◽  
Definition Of

The introduction of a remote control system for unmanned vehicles on inland waterways is a complex and topical task, the solution of which should begin with the definition of conceptual states that will determine the rational way of interaction of this system with the known ones. The technical fleet remote control system should provide the required level of navigation safety, and implementation of the system should not affect the metasystem operation as a whole. Currently, on water transport there is no universal scheme for step-by-step synthesis of systems like the system of monitoring the unmanned technical fleet. However, application of the engineering-cybernetic approach in this case allows to solve this problem. In this case, it is possible to formulate a list of statements that contribute to the successful organization of conceptual and operational research. The proposed conceptual states for the synthesis of the structure and factors that determine the efficiency of functioning of the technical fleet remote control system at the infocommunication triad operation (corporative river information system, river information service, automated navigation control system) help to develop a rational option of the system structure in order to obtain the greatest efficiency. All levels of the system (elementary, aggregative, systemic, metasystemic) are closely interrelated and must function as a single unit. For proper functioning of the system it has been recommended to carry out the preliminary assessment by four main criteria: stability, controllability, capability, self-organization of functions and structure. It has been referred that practical application of the results will allow water transport specialists involved in the system development process to use a uniform approach at the stage of working and design documentation development, which will make it possible to integrate the technical fleet remote control system into metasystems in the inland waterways of the Russian Federation.

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