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Modeling and control of autonomous t...

Fan, Zhejun.

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Modeling and control of autonomous tracked vehicles.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Modeling and control of autonomous tracked vehicles./
Author:	Fan, Zhejun.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 1995,
Description:	132 p.
Notes:	Source: Dissertation Abstracts International, Volume: 56-08, Section: B, page: 4538.
Contained By:	Dissertation Abstracts International56-08B.
Subject:	Mechanical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9542836

Modeling and control of autonomous tracked vehicles.
Fan, Zhejun.

Modeling and control of autonomous tracked vehicles. - Ann Arbor : ProQuest Dissertations & Theses, 1995 - 132 p.

Source: Dissertation Abstracts International, Volume: 56-08, Section: B, page: 4538.

Thesis (Ph.D.)--University of Michigan, 1995.

In this dissertation, an autonomous tracked vehicle is developed. The main purpose is to develop a control strategy for autonomous tracked vehicles that includes new motion control, trajectory control, traction control and computerized speed control. We first provide evidence that slippage is inevitable for a tracked vehicle, so that regular shaft encoders mounted on its sprokets are of little use for position and orientation purpose. To overcome this problem, we developed an encoder trailer for the tracked vehicles that can provide accurate information in spite of floor roughness and obstacles.Subjects--Topical Terms:

649730
Mechanical engineering.

Modeling and control of autonomous tracked vehicles.
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035 $a (MiAaPQ)AAI9542836
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100 1 $a Fan, Zhejun. $3 3426430
245 1 0 $a Modeling and control of autonomous tracked vehicles.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 1995
300 $a 132 p.
500 $a Source: Dissertation Abstracts International, Volume: 56-08, Section: B, page: 4538.
500 $a Co-Chairs: Yoram Koren; David Wehe.
502 $a Thesis (Ph.D.)--University of Michigan, 1995.
520 $a In this dissertation, an autonomous tracked vehicle is developed. The main purpose is to develop a control strategy for autonomous tracked vehicles that includes new motion control, trajectory control, traction control and computerized speed control. We first provide evidence that slippage is inevitable for a tracked vehicle, so that regular shaft encoders mounted on its sprokets are of little use for position and orientation purpose. To overcome this problem, we developed an encoder trailer for the tracked vehicles that can provide accurate information in spite of floor roughness and obstacles.
520 $a There are many papers in the area of mobility and performance of tracked vehicles. However, the kinematics and motion control of tracked vehicles have not been investigated previously. Therefore, we designed and implemented a hybrid control technique for straight line motion. This approach utilizes a cross-coupling control algorithm to compensate for the internal errors, and an adaptive control algorithm to identify parameters on-line and compensate for the external errors. For general trajectory control of vehicles, we built a comprehensive model and developed a simulation package. On the basis of the measured input and output data and optimization, important parameters are identified such that simulated output will agree with the actual measured output. Since modeling errors are inevitable, a new trajectory control algorithm was developed. It is asymptotically stable in spite of modeling uncertainty. Experimental results confirmed that the position errors in X and Y directions are less than 2 cm for a quarter circular path. On low shear strength soil, a tracked vehicle may become unstable. This motivated us to investigate possible traction control systems to assure tracked vehicle operational stability on low strength soil. One direct application of the hybrid control algorithm developed in this thesis is the computerized speed control of electric vehicles (EV), which is proven to be useful by experiments. One of the algorithm's main advantages is that it can be easily applied to typical EV.
590 $a School code: 0127.
650 4 $a Mechanical engineering. $3 649730
650 4 $a Automotive engineering. $3 2181195
650 4 $a Energy. $3 876794
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710 2 $a University of Michigan. $3 777416
773 0 $t Dissertation Abstracts International $g 56-08B.
790 $a 0127
791 $a Ph.D.
792 $a 1995
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9542836