scholarly journals A guidance and control algorithm for scent tracking micro-robotic vehicle swarms

1998 ◽  
Author(s):  
J.L. Dohner
Keyword(s):  
Control Algorithm ◽  
Guidance And Control ◽  
Robotic Vehicle ◽  
And Control

scholarly journals A Guidance and Control Algorithm for Scent Tracking Micro-Robotic Vehicle Swarms

1998 ◽  
Vol 120 (3) ◽  
pp. 353-359 ◽  
Author(s):  
J. L. Dohner
Keyword(s):  
Point Source ◽  
Control Algorithm ◽  
Social Rank ◽  
Complex Environments ◽  
Guidance And Control ◽  
New Concepts ◽  
Robotic Vehicle ◽  
Cooperative Guidance And Control ◽  
Cooperative Vehicles ◽  
And Control

Cooperative micro-robotic scent tracking vehicles are designed to collectively “sniff out” locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper, a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

scholarly journals Integrated Guidance and Control of Multiple Interceptors with Impact Angle Constraints Considered

2019 ◽  
Vol 37 (2) ◽  
pp. 273-282
Author(s):  
Xiang Liu ◽  
Xiaogeng Liang
Keyword(s):  
Cooperative Control ◽  
Control Algorithm ◽  
Control Method ◽  
Impact Angle ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Integrated Guidance And Control ◽  
And Control ◽  
Impact Angle Constraint ◽  
Distributed Cooperative Control

To solve the multi-interceptor coordination problem and to intercept the target with impact angle constraint, a novel distributed cooperative control algorithm with impact angle constraint based on integrated guidance and control is proposed. First, the mathematic model of integrated guidance and control is established by combining the interceptor-target relative motion model with the dynamic equation of the interceptor on pitch plane. The time varying gain extended state observer is developed to estimate and compensate the unknown disturbance. Based on the estimated value and fast nonsingular dynamic surface sliding control method, the IGC algorithm of leader is given; Then, based on distributed cooperative "leader-follower" model, the cooperative control strategy of multi-interceptor is designed, and gives out speeds in two directions on pitch plane, which are transformed to the command of total velocity and trajectory angle based on kinematic relations. Finally, to control the follower, the time varying gain extended state observer and the dynamic surface sliding control method are adopted. The simulation results demonstrate the effectiveness of the distributed cooperative control algorithm.

Design of Robotic Vehicle for Personal Mobility with Electric-Driven Three-Wheels

2016 ◽  
Vol 13 (04) ◽  
pp. 1650020
Author(s):  
Young-Jae Ryoo ◽  
Dae-Yeong Im ◽  
Hyun-Rok Cha
Keyword(s):  
Control Algorithm ◽  
Digital Design ◽  
Steering Wheel ◽  
Personal Mobility ◽  
Frame Design ◽  
Directional Motion ◽  
Driving Wheel ◽  
Robotic Vehicle ◽  
Rapid Prototyping Model ◽  
And Control

In this paper, a robotic vehicle for a personal mobility with electric-driven three-wheels is proposed. Before designing the proposed robotics vehicle, omni-directional motions using special wheels, active caster wheels, and active steerable driving wheels are studied. For design of the proposed vehicle, we discuss about active steerable wheel design, and vehicle’s frame design. The omni-directional motion through the digital design exploration of the vehicle using active driving and steering wheel robot technology is examined. As the major mechanical components, an active steerable driving wheel, in-wheel motors, brakes, suspensions, and control systems are described. The design is established by rapid prototyping model of omni-directional motion. The steering geometry and control algorithm for the prototype of the proposed personal mobility are experimented.

Implementation of PILS for top-attack guidance and control algorithm

2007 ◽  
Author(s):  
Pil-Chang Son ◽  
Min-Cheol Song ◽  
Beomcheon Kim ◽  
Cheon-Kyun Oh ◽  
Young-Do Parkl
Keyword(s):  
Control Algorithm ◽  
Guidance And Control ◽  
And Control

scholarly journals Time-Fixed Glideslope Guidance for Approaching the Proximity of an Asteroid

Aerospace ◽  
2021 ◽  
Vol 8 (5) ◽  
pp. 137
Author(s):  
Jinlin Wang ◽  
Hai Li ◽  
Zhangjin Lin ◽  
Hong Huo
Keyword(s):  
Control Algorithm ◽  
Control Parameter ◽  
Orbital Dynamics ◽  
Control Parameters ◽  
Guidance And Control ◽  
Guidance Algorithm ◽  
Relative Measurements ◽  
And Control ◽  
Range Of Values ◽  
Vast Range

The guidance and control problem of spacecraft approaching an asteroid using constant continuous thrust is studied in this work. The range of interest is from hundreds of kilometers to several kilometers, in which relative measurements of much higher accuracy than based on Earth can be used to facilitate further hovering or landing operations. Time-fixed glideslope guidance algorithm is improved by introducing a substitute of an existing control parameter and combined with elliptical relative orbital dynamics to rendezvous the spacecraft with a prescribed location in the proximity of a given asteroid. A vast range of values for the control parameters are explored and suitable combinations are found. To fully validate the robustness and accuracy of the proposed control algorithm, Monte Carlo simulations are done with the navigational error and implementation error considered.

Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems

2009 ◽  
Vol 147-149 ◽  
pp. 31-34
Author(s):  
Maryna P. Mukhina
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
Control Algorithm ◽  
Kinematics And Dynamics ◽  
Wheeled Mobile Robots ◽  
Wheeled Robot ◽  
Navigation And Control ◽  
Monitoring And Surveillance ◽  
Robotic Vehicle ◽  
And Control

Monitoring and surveillance by means of mobile robots are of great importance in a number of various applications. The level of technology and science development is high enough to use robotic vehicle for monitoring in dangerous or hard-to-reach areas, for continuous surveillance of large industrial objects, in military purposes. The main problems in this area are navigation and control of vehicle. The majority of articles are dedicated to problems of motion control of wheeled mobile robots with two or three wheels [1-2]. As to four-wheeled mobile robots its kinematics and dynamics are considered in [3].

scholarly journals Guidance, Navigation, and Control for Fixed-Wing UAV

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Amber Israr ◽  
Eman H. Alkhammash ◽  
Myriam Hadjouni
Keyword(s):  
Flight Control ◽  
Control Algorithm ◽  
Control Mechanism ◽  
Processing System ◽  
Hardware In The Loop ◽  
Rotor Speed ◽  
Factors Affecting ◽  
Guidance And Control ◽  
Navigation And Control ◽  
And Control

The purpose of this paper is to develop a fixed-wing aircraft that has the abilities of both vertical take-off (VTOL) and a fixed-wing aircraft. To achieve this goal, a prototype of a fixed-wing gyroplane with two propellers is developed and a rotor can maneuver like a drone and also has the ability of vertical take-off and landing similar to a helicopter. This study provides guidance, navigation, and control algorithm for the gyrocopter. Firstly, this study describes the dynamics of the fixed-wing aircraft and its control inputs, i.e., throttle, blade pitch, and thrust vectors. Secondly, the inflow velocity, the forces acting on the rotor blade, and the factors affecting the rotor speed are analyzed. Afterward, the mathematical models of the rotor, dual engines, wings, and vertical and horizontal tails are presented. Later, the flight control strategy using a global processing system (GPS) module is designed. The parameters that are examined are attitude, speed, altitude, turn, and take-off control. Lastly, hardware in the loop (HWIL) based simulations proves the effectiveness and robustness of the navigation guidance and control mechanism. The simulations confirm that the proposed novel mechanism is robust and satisfies mission requirements. The gyrocopter remains stable during the whole flight and maneuvers the designated path efficiently.

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