A Quasi-Static Approach to Optimize the Motion of an UGV Depending on the Track Profile

2015 ◽  
Vol 220-221 ◽  
pp. 774-780 ◽  
Author(s):  
Eduardo Corral ◽  
Gennady Aryassov ◽  
Jesús Meneses
Keyword(s):  
Vehicle Control ◽  
The Body ◽  
Unmanned Ground Vehicle ◽  
Vehicle Model ◽  
Complex Profile ◽  
Ground Vehicle ◽  
Normal Forces ◽  
Static Approach ◽  
Optimal Values ◽  
Numerical Program

The aim of this work is to improve the navigation capabilities of an off-road unmanned ground vehicle (UGV) by optimizing the angles between its legs and its body (its configuration angles), as the vehicle travels by a particular track profile. We present a numerical program based on a quasi-static half vehicle model. For a profile entered by the user, the program will be able to calculate how the angles between the legs and the body must vary along the trajectory, so that to maintain the torque on the wheels as constant as possible. Results may be helpful in vehicle control tasks, in particular when passing obstacles efficiently.First of all, some considerations concerning the nomenclature and geometry of the vehicle are presented. Then, the kinematics of the vehicle is exposed starting from the function that defines the profile. We focus on the position and/or trajectories of remarkable points to be employed later. From the kinematics, the quasi-static model is developed and the equations to calculate the forces and torques involved are presented. The algorithm basically calculates the position along the track and the angles between the legs and the body and then, by using the previous equations, finds the optimal values of those angles that satisfy a given condition (as equal to normal forces, torque constancy, minimum torque, etc.)As results, we present the configuration angles that equal to the normal forces on the wheels when the vehicle ascends a ramp, depending on the slope. We also present the optimal configuration angles variation required for the vehicle to pass over a step obstacle. And for a complex profile how the torque changes in function of the angles between the legs.

scholarly journals Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141775272 ◽  
Author(s):  
Eduardo Corral Abad ◽  
Jesús Meneses Alonso ◽  
María Jesús Gómez García ◽  
Juan Carlos García-Prada
Keyword(s):  
Dynamic Model ◽  
Equation System ◽  
The Body ◽  
Unmanned Ground Vehicle ◽  
Profile Function ◽  
Ground Vehicle ◽  
Unstructured Environments ◽  
Navigation Algorithm ◽  
Static Approach ◽  
Dynamic Variables

The goal of this article is to design a navigation algorithm to improve the capabilities of an all-terrain unmanned ground vehicle by optimizing its configuration (the angles between its legs and its body) for a given track profile function. The track profile function can be defined either by numerical equations or by points. The angles between the body and the legs can be varied in order to improve the adaptation to the ground profiles. A new dynamic model of an all-terrain vehicle for unstructured environments has been presented. The model is based on a half-vehicle and a quasi-static approach and relates the dynamic variables of interest for navigation with the topology of the mechanism. The algorithm has been created using a simple equation system. This is an advantage over other algorithms with more complex equations which need more time to be calculated. Additionally, it is possible to optimize to any ground-track-profile of any terrain. In order to prove the soundness of the algorithm developed, some results of different applications have been presented.

59225 THE DEVELOPMENT OF A REAL-TIME SIMULATOR FOR UNMANNED GROUND VEHICLE(Control of Multibody Systems)

2010 ◽  
Vol 2010.5 (0) ◽  
pp. _59225-1_-_59225-8_
Author(s):  
Jong Seok Lee ◽  
Jae Yi Oh ◽  
Yeo Giel Yoon ◽  
Ju Yong Kang ◽  
Won Gun Kim ◽  
...  
Keyword(s):  
Real Time ◽  
Multibody Systems ◽  
Vehicle Control ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle

scholarly journals Negotiating Uneven Terrain by a Simple Teleoperated Tracked Vehicle with Internally Movable Center of Gravity

2022 ◽  
Vol 12 (1) ◽  
pp. 525
Author(s):  
Yasuhiro Fukuoka ◽  
Kazuyuki Oshino ◽  
Ahmad Najmuddin Ibrahim
Keyword(s):  
Mechanical Design ◽  
Center Of Gravity ◽  
The Body ◽  
Unmanned Ground Vehicle ◽  
Tracked Vehicle ◽  
Ground Vehicle ◽  
High Position ◽  
Uneven Terrain ◽  
Dc Motors ◽  
Mass Position

We propose a mechanical design for a simple teleoperated unmanned ground vehicle (UGV) to negotiate uneven terrain. UGVs are typically classified into legged, legged-wheeled, wheeled, and tanked forms. Legged vehicles can significantly shift their center of gravity (COG) by positioning their multi-articulated legs at appropriate trajectories, stepping over a high obstacle. To realize a COG movable mechanism with a small number of joints, a number of UGVs have been developed that can shift their COG by moving a mass at a high position above the body. However, these tend to pose a risk of overturning, and the mass must be moved quite far to climb a high step. To address these issues, we design a novel COG shift mechanism, in which the COG can be shifted forward and backward inside the body by moving most of its internal devices. Since this movable mass includes DC motors for driving both tracks, we can extend the range of the COG movement. We demonstrate that a conventional tracked vehicle prototype can traverse a step and a gap between two steps, as well as climb stairs and a steep slope, with a human operating the vehicle movement and the movable mass position.

Semi-autonomous unmanned ground vehicle control system

2006 ◽  
Author(s):  
Jonathan Anderson ◽  
Dah-Jye Lee ◽  
Robert Schoenberger ◽  
Zhaoyi Wei ◽  
James Archibald
Keyword(s):  
Control System ◽  
Vehicle Control ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle

A Hardware & Software System for Unmanned Ground Vehicle Control with Robotic Arm & Color Detection

2012 ◽  
Vol 605-607 ◽  
pp. 1577-1582
Author(s):  
Md. Saidur Rahman ◽  
Md. Shakar Ullah Chowdhury ◽  
Md. Abdul Wazed ◽  
Md. Mamunur Roshid
Keyword(s):  
Recognition System ◽  
Vehicle Control ◽  
Urban Environments ◽  
Robotic Arm ◽  
Software System ◽  
National Defense ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Color Recognition ◽  
Color Detection

The main objective of this work is to develop a system consisting of Hardware and Software to drive Unmanned Ground Vehicle (UGV). UGVs are robotic platforms that are used as an extension of human capability. This type of robot is generally capable of operating outdoors and over a wide variety of terrain, functioning in place of humans. So it can be used in national defense to perform reconnaissance and strike missions in urban environments, and by civilian teams to conduct search and rescue operations in hazardous terrain. The software system is used to control the UGV through computer from remote place by using satellite; the software gives it the waypoint/path-location. The robotic arm is used to carry spy weapons or to pick objects for the collection of data or to rescue with the help of its own color recognition system. The system is working efficiently as directed with acceptable precision.

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