相关论文: Modeling of Mobile Vehicle Skid in Traction Moveme…

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…

This paper proposes a real-time physically-based method for simulating vehicle deformation. Our system synthesizes vehicle deformation characteristics by considering a low-dimensional coupled vehicle body technique. We simulate the motion…

In this paper, an uncertain norm-bounded mathematical model for a remotely controlled skid-slip tracked mobile robot. The linear state space description aims to describe the nonlinear error dynamics of the robot during the trajectory…

Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies…

Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…

This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…

Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

Numerical stability is of great significance for discrete-time dynamic vehicle model. Among the unstable factors, low-speed singularity stands out as one of the most challenging issues, which arises from that the denominator of tire side…

This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific…

This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…

This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…

This paper presents a novel technique that allows for both computationally fast and sufficiently plausible simulation of vehicles with non-deformable tracks. The method is based on an effect we have called Contact Surface Motion. A…

This paper presents a rigorous analytical model of traffic dynamics on a circular track, demonstrating the emergence of standing oscillations resulting from microscopic driver behaviour, delay responses, and proximity pressure. Without…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…

This paper presents a new mathematical model of vehicular traffic, based on the methods of the generalized kinetic theory, in which the space of microscopic states (position and velocity) of the vehicles is genuinely discrete. While in the…

This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…