Mobility and dynamics modeling for unmanned ground vehicle motion planning

1999 ◽  
Author(s):  
Gary Witus
Keyword(s):  
Motion Planning ◽  
Unmanned Ground Vehicle ◽  
Dynamics Modeling ◽  
Ground Vehicle ◽  
Vehicle Motion

Experimental Test of Unmanned Ground Vehicle Delivering Goods Using RRT Path Planning Algorithm

2017 ◽  
Vol 05 (01) ◽  
pp. 45-57 ◽  
Author(s):  
Yiqun Dong ◽  
Youmin Zhang ◽  
Jianliang Ai
Keyword(s):  
Motion Control ◽  
Experimental Test ◽  
Control Flow ◽  
Optimization Approach ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Tree Expansion ◽  
Planning Algorithm ◽  
Vehicle Motion ◽  
Path Planning Algorithm

This paper presents the experimental test of an unmanned ground vehicle delivering goods. Configuration and motion equations of the vehicle are illustrated, drivers for the vehicle motion control are introduced. In the presence of obstacles, the collision-free path connecting the vehicle from the start to the goal position is planned using Rapidly-exploring Random Tree (RRT) algorithm; collision detection, nodes selection, tree expansion, and path generation of the RRT are presented, the path optimization approach is discussed. To grip the goods, vehicle mechanical arms are manipulated based on the inversed kinematics, some control flow of the arms deployment for interacting with the vehicle motion control is applied. Experimental test of the vehicle delivering goods in face of static obstacles is presented; test result validates the applicability of the proposed framework.

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

scholarly journals Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Xiao Liang ◽  
Honglun Wang ◽  
Haitao Luo
Keyword(s):  
Visual Field ◽  
Heterogeneous System ◽  
Three Dimensional ◽  
Unmanned Ground Vehicle ◽  
Worst Case ◽  
Ground Vehicle ◽  
Pursuit Evasion ◽  
Evasion Game ◽  
Evasion Strategy ◽  
Aerial Vehicle

The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case.

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