The aim of this effort is to develop a model of an actual unmanned ground vehicle system for computer simulations in order to evaluate guidance algorithms developed for autonomous waypoint navigation and obstacle avoidance. Simulation is a vital tool for the development of autonomous systems. Simulating individual parts and units of the system can help identify flaws in its design or implementation. In the Matlab-Simulink environment, a kinematic based model of an skid-steer ground vehicle is designed. Furthermore, a model of quadrature encoders for position estimation, and a laser range finder (LRF) sensor model for obstacle detection are also created. Two different groups of experiments are performed to test the performance of the proposed models. Experimental results indicate that the models can adequately simulate the actual vehicle behaviors. This effort is part of an ongoing research to create fully autonomous UxVs capable of waypoint navigation and obstacle avoidance.
- Dynamic Systems and Control Division
Modeling of an Unmanned Ground Vehicle for Autonomous Navigation and Obstacle Avoidance Simulations
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Sevil, HE, Desai, P, Dogan, A, & Huff, B. "Modeling of an Unmanned Ground Vehicle for Autonomous Navigation and Obstacle Avoidance Simulations." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 529-534. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8867
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