Motion and Energy Efficiency Parameters of the Unmanned Ground Vehicle

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.

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

Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2012-71251 ◽

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.

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Multi-Role Unmanned Ground Vehicle for Bomb Detection and Surveillance

International Journal of Engineering and Advanced Technology - Regular Issue ◽

10.35940/ijeat.f1165.0886s219 ◽

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.

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

Unmanned Systems ◽

10.1142/s2301385018500073 ◽

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.

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Real time prediction and diagnostics for unmanned ground vehicle (UGV) mobility

10.1117/12.720181 ◽

2007 ◽

Author(s):

Holger M. Jaenisch ◽

James W. Handley ◽

Michael L. Hicklen

Keyword(s):

Real Time ◽

Unmanned Ground Vehicle ◽

Ground Vehicle ◽

Time Prediction

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Real-Time Distributed Ensemble Learning for Fault Detection of an Unmanned Ground Vehicle

2020 IEEE 15th International Conference of System of Systems Engineering (SoSE) ◽

10.1109/sose50414.2020.9130511 ◽

2020 ◽

Author(s):

Conor Wallace ◽

Sean Ackels ◽

Patrick Benavidez ◽

Mo Jamshidi

Keyword(s):

Fault Detection ◽

Real Time ◽

Ensemble Learning ◽

Unmanned Ground Vehicle ◽

Ground Vehicle

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

Volume 4A: Dynamics, Vibration and Control ◽

10.1115/imece2013-65946 ◽

2013 ◽

Cited By ~ 3

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.

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