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X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
Book Synopsis Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by : Jun NI
Download or read book Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle written by Jun NI and published by Morgan & Claypool Publishers. This book was released on 2018-01-04 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
Book Synopsis Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by : Jun NI
Download or read book Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle written by Jun NI and published by Springer Nature. This book was released on 2022-05-31 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
Book Synopsis Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle by : Jun Ni
Download or read book Design and Advanced Robust Chassis Dynamics Control for X-by-Wire Unmanned Ground Vehicle written by Jun Ni and published by Morgan & Claypool. This book was released on 2018-01-04 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic. In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system, in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
This authoritative reference work will provide readers with a complete overview of artificial intelligence (AI), including its historic development and current status, existing and projected AI applications, and present and potential future impact on the United States and the world. Some people believe that artificial intelligence (AI) will revolutionize modern life in ways that improve human existence. Others say that the promise of AI is overblown. Still others contend that AI applications could pose a grave threat to the economic security of millions of people by taking their jobs and otherwise rendering them "obsolete"-or, even worse, that AI could actually spell the end of the human race. This volume will help users understand the reasons AI development has both spirited defenders and alarmed critics; explain theories and innovations like Moore's Law, mindcloning, and Technological Singularity that drive AI research and debate; and give readers the information they need to make their own informed judgment about the promise and peril of this technology. All of this coverage is presented using language and terminology accessible to a lay audience.
Book Synopsis Encyclopedia of Artificial Intelligence by : Philip L. Frana
Download or read book Encyclopedia of Artificial Intelligence written by Philip L. Frana and published by Bloomsbury Publishing USA. This book was released on 2021-04-07 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: This authoritative reference work will provide readers with a complete overview of artificial intelligence (AI), including its historic development and current status, existing and projected AI applications, and present and potential future impact on the United States and the world. Some people believe that artificial intelligence (AI) will revolutionize modern life in ways that improve human existence. Others say that the promise of AI is overblown. Still others contend that AI applications could pose a grave threat to the economic security of millions of people by taking their jobs and otherwise rendering them "obsolete"-or, even worse, that AI could actually spell the end of the human race. This volume will help users understand the reasons AI development has both spirited defenders and alarmed critics; explain theories and innovations like Moore's Law, mindcloning, and Technological Singularity that drive AI research and debate; and give readers the information they need to make their own informed judgment about the promise and peril of this technology. All of this coverage is presented using language and terminology accessible to a lay audience.
Recent years have seen considerable progress towards the goal of autonomous and unmanned ground vehicles which became essential for conducting military operations. These autonomous vehicles have the capability to operate and react to their environments without external control. Autonomous multi-wheeled combat vehicles are crucial for military applications which offer numerous leverages on modern battlefields. Applying autonomy features to such vehicles significantly increases its combat capabilities and expands its applications to work-day and night for risky missions compared with traditional manned ground vehicles. However, it is associated with some challenges because of their large dimension, heavy weight, and complex geometry. Therefore, the development of autonomous combat vehicles has become a cutting-edge research topic in robotics and automotive engineering. This thesis focuses on the control issues related to applying autonomous features for the multi-wheeled combat vehicles due to their significant influence especially when navigating in the presence of obstacles. The primary concern of path planning is to compute collision-free paths. Another equally important issue is to compute a realizable path and, if possible, achieving an optimal path bringing the vehicle to the final position. For these purposes, the developed methodology considers the combination between the optimal control theory using Pontryagin's Minimum Principle (PMP) and Artificial Potential Filed (APF). In addition, a four-axle bicycle model of the actual multi-wheeled combat vehicle considering the vehicle body lateral and yaw dynamics is developed. To generate the vehicle optimal path in real time, an Artificial Neural Network (ANN) model is proposed. The introduced ANN model allows the vehicle to carry out an autonomous navigation in real time with maintaining the path optimality by considering the vehicle parameters in terms of yaw rate, lateral velocity, heading angle and steering angle. Subsequently, a comparative study and performance analysis of the developed optimal path algorithm using PMP with Dynamic Programming (DP) method was carried out in order to guarantee the global optimum solution. Determining the accurate vehicle position offers sufficient capabilities which increase the autonomy and safety features, especially in case of off-road locomotion. In this regard, a hybrid framework for positioning technique based on the integration of GPS/INS for combat vehicles is developed. The developed algorithm is able to provide an accurate and reliable vehicle positioning information, even if the number of visible satellites is less than four, due to the harsh vehicle operation environments. In this work, a scaled multi-wheeled combat vehicle model was developed using system identification methodology. Different system identification methods are considered and applied to solve and identify this problem. An advanced control system in terms of fuzzy logic, robust, and PID control systems are designed. In addition, the Processor-In-the-Loop co-simulation (PIL) is considered, which permits and achieves a more realistic situation where the developed control algorithms running on a dedicated processor. The performance and effectiveness of the developed controllers are evaluated for vehicle heading angle tracking using different predefined heading angles. Furthermore, a comparative evaluation to assess the feasibility of the developed control algorithms is discussed. Finally, it should be stated that this work offers the first attempt in the open literature to control the scaled multi-wheeled combat vehicle using different advanced control techniques such as, fuzzy logic, [...]∞.
Book Synopsis Design and Development of Advanced Control Techniques for an Unmanned Ground Vehicle by : Amr Mohamed
Download or read book Design and Development of Advanced Control Techniques for an Unmanned Ground Vehicle written by Amr Mohamed and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent years have seen considerable progress towards the goal of autonomous and unmanned ground vehicles which became essential for conducting military operations. These autonomous vehicles have the capability to operate and react to their environments without external control. Autonomous multi-wheeled combat vehicles are crucial for military applications which offer numerous leverages on modern battlefields. Applying autonomy features to such vehicles significantly increases its combat capabilities and expands its applications to work-day and night for risky missions compared with traditional manned ground vehicles. However, it is associated with some challenges because of their large dimension, heavy weight, and complex geometry. Therefore, the development of autonomous combat vehicles has become a cutting-edge research topic in robotics and automotive engineering. This thesis focuses on the control issues related to applying autonomous features for the multi-wheeled combat vehicles due to their significant influence especially when navigating in the presence of obstacles. The primary concern of path planning is to compute collision-free paths. Another equally important issue is to compute a realizable path and, if possible, achieving an optimal path bringing the vehicle to the final position. For these purposes, the developed methodology considers the combination between the optimal control theory using Pontryagin's Minimum Principle (PMP) and Artificial Potential Filed (APF). In addition, a four-axle bicycle model of the actual multi-wheeled combat vehicle considering the vehicle body lateral and yaw dynamics is developed. To generate the vehicle optimal path in real time, an Artificial Neural Network (ANN) model is proposed. The introduced ANN model allows the vehicle to carry out an autonomous navigation in real time with maintaining the path optimality by considering the vehicle parameters in terms of yaw rate, lateral velocity, heading angle and steering angle. Subsequently, a comparative study and performance analysis of the developed optimal path algorithm using PMP with Dynamic Programming (DP) method was carried out in order to guarantee the global optimum solution. Determining the accurate vehicle position offers sufficient capabilities which increase the autonomy and safety features, especially in case of off-road locomotion. In this regard, a hybrid framework for positioning technique based on the integration of GPS/INS for combat vehicles is developed. The developed algorithm is able to provide an accurate and reliable vehicle positioning information, even if the number of visible satellites is less than four, due to the harsh vehicle operation environments. In this work, a scaled multi-wheeled combat vehicle model was developed using system identification methodology. Different system identification methods are considered and applied to solve and identify this problem. An advanced control system in terms of fuzzy logic, robust, and PID control systems are designed. In addition, the Processor-In-the-Loop co-simulation (PIL) is considered, which permits and achieves a more realistic situation where the developed control algorithms running on a dedicated processor. The performance and effectiveness of the developed controllers are evaluated for vehicle heading angle tracking using different predefined heading angles. Furthermore, a comparative evaluation to assess the feasibility of the developed control algorithms is discussed. Finally, it should be stated that this work offers the first attempt in the open literature to control the scaled multi-wheeled combat vehicle using different advanced control techniques such as, fuzzy logic, [...]∞.
The main objective of the proposed research is to improve various stability and handling qualities (such as Roll Over stability, Lane Change maneuver stability etc) of military, off road, unmanned multi-body ground vehicles within as wide operating envelope as possible under the presence of uncertainty in vehicle model parameters as well as under various sensor, actuator and component faults. Armed with important and award winning theoretical tools in linear and nonlinear uncertain systems theory developed by the PI, in this research project, we attempt to design advanced and sophisticated control systems to improve the roll over stability and other performance objectives of multi-body ground vehicles over as wide range of speed and terrain characteristics as possible and to improve the stability and performance characteristics of these vehicles under various faults. The analysis and design algorithms resulting from these sound theoretical bases are then applied to multi-body ground vehicle stability and control problem with military vehicle application.
Book Synopsis Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures by :
Download or read book Robust Stability and Control of Multi-Body Ground Vehicles with Uncertain Dynamics and Failures written by and published by . This book was released on 2010 with total page 39 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main objective of the proposed research is to improve various stability and handling qualities (such as Roll Over stability, Lane Change maneuver stability etc) of military, off road, unmanned multi-body ground vehicles within as wide operating envelope as possible under the presence of uncertainty in vehicle model parameters as well as under various sensor, actuator and component faults. Armed with important and award winning theoretical tools in linear and nonlinear uncertain systems theory developed by the PI, in this research project, we attempt to design advanced and sophisticated control systems to improve the roll over stability and other performance objectives of multi-body ground vehicles over as wide range of speed and terrain characteristics as possible and to improve the stability and performance characteristics of these vehicles under various faults. The analysis and design algorithms resulting from these sound theoretical bases are then applied to multi-body ground vehicle stability and control problem with military vehicle application.
This book belongs to the field of intelligent vehicle control, which is dedicated to the research of nonlinear control problems of intelligent vehicle chassis-by-wire systems. Through the nonlinear stability control of the steer-by-wire system and the consistency optimization control of the brake-by-wire system, the performance of the vehicle subsystem is improved. Then, the decoupling control of the nonlinear inverse system is used to realize the decoupling of the chassis-by-wire system. Finally, this book further adopts nonlinear rollover prevention integrated control to improve the rollover prevention performance of the vehicle.
Book Synopsis Nonlinear Control Technology of Vehicle Chassis-by-Wire System by : Wanzhong Zhao
Download or read book Nonlinear Control Technology of Vehicle Chassis-by-Wire System written by Wanzhong Zhao and published by Springer Nature. This book was released on 2022-01-03 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book belongs to the field of intelligent vehicle control, which is dedicated to the research of nonlinear control problems of intelligent vehicle chassis-by-wire systems. Through the nonlinear stability control of the steer-by-wire system and the consistency optimization control of the brake-by-wire system, the performance of the vehicle subsystem is improved. Then, the decoupling control of the nonlinear inverse system is used to realize the decoupling of the chassis-by-wire system. Finally, this book further adopts nonlinear rollover prevention integrated control to improve the rollover prevention performance of the vehicle.
This textbook introduces advanced control systems for vehicles, including advanced automotive concepts and the next generation of vehicles for ITS.
Book Synopsis Automotive Control Systems by : A. Galip Ulsoy
Download or read book Automotive Control Systems written by A. Galip Ulsoy and published by Cambridge University Press. This book was released on 2012-04-30 with total page 407 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook introduces advanced control systems for vehicles, including advanced automotive concepts and the next generation of vehicles for ITS.
In this research work, a novel control system strategy for the robust control of an unmanned ground vehicle is proposed. This strategy is motivated by efforts to mitigate the problem for scenarios in which the human operator is unable to properly communicate with the vehicle. This novel control system strategy consisted of three major components: I.) Two independent intelligent controllers, II.) An intelligent navigation system, and III.) An intelligent controller tuning unit. The inner workings of the first two components are based off the Brain Emotional Learning (BEL), which is a mathematical model of the Amygdala-Orbitofrontal, a region in mammalians brain known to be responsible for emotional learning. Simulation results demonstrated the implementation of the BEL model to be very robust, efficient, and adaptable to dynamical changes in its application as controller and as a sensor fusion filter for an unmanned ground vehicle. These results were obtained with significantly less computational cost when compared to traditional methods for control and sensor fusion. For the intelligent controller tuning unit, the implementation of a human emotion recognition system was investigated. This system was utilized for the classification of driving behavior. Results from experiments showed that the affective states of the driver are accurately captured. However, the driver's affective state is not a good indicator of the driver's driving behavior. As a result, an alternative method for classifying driving behavior from the driver's brain activity was explored. This method proved to be successful at classifying the driver's behavior. It obtained results comparable to the common approach through vehicle parameters. This alternative approach has the advantage of directly classifying driving behavior from the driver, which is of particular use in UGV domain because the operator's information is readily available. The classified driving mode was used tune the controllers' performance to a desired mode of operation. Such qualities are required for a contingency control system that would allow the vehicle to operate with no operator inputs.
Book Synopsis Human Inspired Control System for an Unmanned Ground Vehicle by : Alvaro Vargas-Clara
Download or read book Human Inspired Control System for an Unmanned Ground Vehicle written by Alvaro Vargas-Clara and published by . This book was released on 2015 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this research work, a novel control system strategy for the robust control of an unmanned ground vehicle is proposed. This strategy is motivated by efforts to mitigate the problem for scenarios in which the human operator is unable to properly communicate with the vehicle. This novel control system strategy consisted of three major components: I.) Two independent intelligent controllers, II.) An intelligent navigation system, and III.) An intelligent controller tuning unit. The inner workings of the first two components are based off the Brain Emotional Learning (BEL), which is a mathematical model of the Amygdala-Orbitofrontal, a region in mammalians brain known to be responsible for emotional learning. Simulation results demonstrated the implementation of the BEL model to be very robust, efficient, and adaptable to dynamical changes in its application as controller and as a sensor fusion filter for an unmanned ground vehicle. These results were obtained with significantly less computational cost when compared to traditional methods for control and sensor fusion. For the intelligent controller tuning unit, the implementation of a human emotion recognition system was investigated. This system was utilized for the classification of driving behavior. Results from experiments showed that the affective states of the driver are accurately captured. However, the driver's affective state is not a good indicator of the driver's driving behavior. As a result, an alternative method for classifying driving behavior from the driver's brain activity was explored. This method proved to be successful at classifying the driver's behavior. It obtained results comparable to the common approach through vehicle parameters. This alternative approach has the advantage of directly classifying driving behavior from the driver, which is of particular use in UGV domain because the operator's information is readily available. The classified driving mode was used tune the controllers' performance to a desired mode of operation. Such qualities are required for a contingency control system that would allow the vehicle to operate with no operator inputs.
Unmanned ground vehicles (UGV) are expected to play a key role in the Army's Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army's UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.
Book Synopsis Technology Development for Army Unmanned Ground Vehicles by : National Research Council
Download or read book Technology Development for Army Unmanned Ground Vehicles written by National Research Council and published by National Academies Press. This book was released on 2003-02-01 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned ground vehicles (UGV) are expected to play a key role in the Army's Objective Force structure. These UGVs would be used for weapons platforms, logistics carriers, and reconnaissance, surveillance, and target acquisition among other things. To examine aspects of the Army's UGV program, assess technology readiness, and identify key issues in implementing UGV systems, among other questions, the Deputy Assistant Secretary of the Army for Research and Technology asked the National Research Council (NRC) to conduct a study of UGV technologies. This report discusses UGV operational requirements, current development efforts, and technology integration and roadmaps to the future. Key recommendations are presented addressing technical content, time lines, and milestones for the UGV efforts.
