A Tracked Double-Bodied Vehicle for Use in Outdoor Environments

2017 ◽  
Author(s):  
Michael Benson ◽  
Garrett M. Clayton
Keyword(s):  
Vehicle Dynamics ◽  
Nonlinear Models ◽  
Computation Time ◽  
Contact Forces ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Surface Conditions ◽  
Outdoor Environments ◽  
Fixed Axis ◽  
Two Bodies

This paper presents an unmanned ground vehicle for use in outdoor environments. The vehicle features a two-bodied design in which the two bodies can rotate relative to each other about a fixed axis. The vehicle uses tracked locomotion for performance in rugged environments and a linear actuator for control of the bodys’ relative orientation. A spring-damper is used to mitigate vibrations due to surface conditions that would add noise to the sensors. A nonlinear model for the vehicle is introduced, and linearized. Design considerations of the suspension system are discussed, including the reduction of vibrations and the maximization of contact forces. Finally, the vehicle dynamics are simulated for the linear and nonlinear models, and the effectiveness and computation time of the two are compared.

Water Hazard Detection Based on 3D LIDAR

2014 ◽  
Vol 668-669 ◽  
pp. 1174-1177 ◽  
Author(s):  
Hai Yan Shao ◽  
Zhen Hai Zhang ◽  
Ke Jie Li ◽  
Jian Wang ◽  
Tao Xu ◽  
...  
Keyword(s):  
Unmanned Ground Vehicle ◽  
Data Format ◽  
Ground Vehicle ◽  
Air Water Interface ◽  
Water Hazard ◽  
Outdoor Environments ◽  
Bodies Of Water ◽  
3D Lidar ◽  
Water Hazards ◽  
Complicated Task

Autonomous off-road navigation is a highly complicated task for a robot or unmanned ground vehicle (UGV) owing to the different kinds of obstacles it could encounter. In-particular, water hazards such as puddles and ponds are very common in outdoor environments and are hard to detect even with ranging devices due to the specular nature of reflection at the air water interface. In recent years, many researches to detect the water bodies have been done. But there still has been very little work on detecting bodies of water that could be navigation hazards, especially at night. In this paper, we used Velodyne HDL-64ES2 3D LIDAR to detect water hazard. The approach first analyzes the data format and transformation of 3D LIDAR, and then writes the data acquisition and visualizations algorithm, integrated data based on ICP algorithm. Finally according the intensity distribution identifies the water hazard. Experiments are carried out on the experimental car in campus, and results show the promising performance.

Design and experimental characterization of an omnidirectional unmanned ground vehicle for unstructured terrain

Robotica ◽  
2014 ◽  
Vol 33 (9) ◽  
pp. 1984-2000
Author(s):  
Chenghui Nie ◽  
Marin Assaliyski ◽  
Matthew Spenko
Keyword(s):  
Energy Consumption ◽  
Real World ◽  
Experimental Validation ◽  
Mechanical Design ◽  
Unmanned Ground Vehicle ◽  
Experimental Characterization ◽  
Ground Vehicle ◽  
Confined Spaces ◽  
Outdoor Environments

SUMMARYThis paper describes the design and experimental validation of an omnidirectional unmanned ground vehicle built for operation on real-world, unstructured terrains. The omnidirectional capabilities of this robot give it advantages over skid-steered or Ackermann-steered vehicles in tight and confined spaces. The robot's conventional wheels allow for operation in natural, outdoor environments as compared to omnidirectional robots that use specialized wheels with small, slender rollers and parts that can easily become obstructed with debris and dirt. Additionally, the robot's active split offset caster design allows the robot to kinematically follow continuous but non-differentiable paths and heading angles regardless of its current kinematic configuration. The active split offset caster design also results in less scrubbing torque and therefore less energy consumption during steering as compared to actively steered caster designs. The focus of this paper is the robot's mechanical design as it relates to kinematic isotropy and experimental validation of the design.

scholarly journals Research on Developing an Outdoor Location System Based on the Ultra-Wideband Technology

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6171
Author(s):  
Łukasz Rykała ◽  
Andrzej Typiak ◽  
Rafał Typiak
Keyword(s):  
Communication Technologies ◽  
Ultra Wideband ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Localization Algorithms ◽  
Multipath Effects ◽  
Outdoor Environments ◽  
Uwb Applications ◽  
Outdoor Location ◽  
Selection Of

Ultra-wideband (UWB) technology is one of the most promising wireless communication technologies. Examples of UWB applications include, among others, radiocommunication devices and location systems, due to their operating range, ability to work in outdoor environments, and resistance to multipath effects. This article focuses on the use of UWB technology in constructing a guide localization system for an unmanned ground vehicle (UGV), which is one of the stages of implementing a “follow me” system. This article describes the complete process of UWB signal processing from its acquisition, methods of filtering, and obtained results, to determining the location of the guide. This article examines the possibility of using modified versions of localization algorithms for determining the guide’s location, including trilateration, methods of nonlinear programming, and a geometric algorithm proposed by us. The innovation of this study consists in the implementation of an algorithm that changes the selection of equations (mathematical model) for determining location based on the number of available measurements from UWB sensors.

Design and Realization of an All-terrain Unmanned Ground Vehicle

ROBOT ◽  
2013 ◽  
Vol 35 (6) ◽  
pp. 657 ◽  
Author(s):  
Taoyi ZHANG ◽  
Tianmiao WANG ◽  
Yao WU ◽  
Qiteng ZHAO
Keyword(s):  
Unmanned Ground Vehicle ◽  
Ground Vehicle

Unmanned Ground Vehicle for Security and Surveillance

2020 ◽  
Author(s):  
Prajot P. Kulkarni ◽  
Shubham R. Kutre ◽  
Shravan S. Muchandi ◽  
Pournima Patil ◽  
Shankargoud Patil
Keyword(s):  
Unmanned Ground Vehicle ◽  
Ground Vehicle
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