Design and development of a heading angle controller for an unmanned ground vehicle

Sahoo, Shubhashisa; Subramanian, Shankar C.; Mahale, N.; Srivastava, Suresh C.

doi:10.1007/s12239-015-0003-8

Cited by 8 publications

(5 citation statements)

References 13 publications

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“…Path-following algorithm based on FLC is introduced where the human driving behavior was emulated by the controller [ 16 ]. A controller is designed on a two-degree-of-freedom vehicle model for heading angle tracking of an UGV where the rotation boundaries of the steering wheel and rate of steering motor were considered for the design [ 17 ]. In addition, a scaled multi-wheeled combat vehicle was modeled using SI techniques where the controller was designed for heading angle tracking [ 18 ].…”

Section: Related Workmentioning

confidence: 99%

Design and Implementation of a Wireless Medical Robot for Communication Within Hazardous Environments

Maher

El-Sheikh²,

Ouda³

et al. 2021

Wireless Pers Commun

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The huge spreading of COVID-19 viral outbreak to several countries motivates many of the research institutions everywhere in numerous disciplines to try decreasing the spread rate of this pandemic. Among these researches are the robotics with different payloads and sensory devices with wireless communications to remotely track patients’ diagnosis and their treatment. That is, it reduces direct contact between the patients and the medical team members. Thus, this paper is devoted to design and implement a prototype of wireless medical robot (MR) that can communicate between patients and medical consultants. The prototype includes the modelling of a four-wheeled MR using systems' identification methodology, from which the model is utilized in control design and analysis. The required controller is designed using the proportional-integral-derivative (PID) and Fuzzy logic (FLC) techniques. The MR is equipped onboard with some medical sensors and a camera to acquire vital signs and physical parameters of patients. The MR model is obtained via an experimental test with input/output signals in open-loop configuration as single–input–single–output from which the estimation and validation results demonstrate that the identified model possess about 89% of the output variation/dynamics. This model is used for controllers' design with PID and FLC, the response of which is good for heading angle tracking. Concerning the medical measurements, more than two thousand real recorded Photo-plethysmography (PPG) signals and Blood Pressure (BP) are used to find the appropriate BP estimation model. Towards this objective, some experiments are designed and conducted to measure the PPG signal. Finally, the BP is estimated with mean absolute error of about 4.7 mmHg in systolic and 4.8 mmHg in diastolic using Artificial Neural Network.

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Section: Related Workmentioning

confidence: 99%

Design and Implementation of a Wireless Medical Robot for Communication Within Hazardous Environments

Maher

El-Sheikh²,

Ouda³

et al. 2021

Wireless Pers Commun

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“…Now, there has been much research on the error of heading angle estimation in common methods. Sahoo and Subramanian (2015) described a controller to track the desired path for an UGV. The rotation angle of steering motor was used to calculate the heading angle of UGV.…”

Section: Error Analysismentioning

confidence: 99%

A novel method for estimating the heading angle for underground Load-Haul-Dump based on Ultra Wideband

Meng

et al. 2017

Transactions of the Institute of Measurement and Control

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This paper presents a system that measures the heading angle of underground Load-Haul-Dump (LHD) based on Ultra Wideband (UWB). The system is composed by two UWB modules. The heading angle gives the predictable information for the vehicle localization. Because of the features of underground mines, many current methods for estimating heading angle have limitations in this situation, such as the absence of Global Positioning System (GPS) and the high cost of the positioning methods based on beacons. The range resolution is proportional to the bandwidth of signal. So, the large system bandwidth of UWB offers high accuracy. We estimate the heading angle by measuring the angle between two UWB modules, which is implemented on LHD. The position error of the two modules directly decides the error of heading angle. This paper analyzes and discusses two-dimensional error in theory. The experimental results demonstrate that it is feasible to use the proposed method for an underground environment.

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“…In order to incorporate the actuator dynamics in the control design process, an appropriate model was derived from first principles. 28 The specification data for the steering actuator used are listed in Table 4.…”

Section: Modelling the Steering Actuatormentioning

confidence: 99%

Evaluation of the transient response and implementation of a heading-angle controller for an autonomous ground vehicle

Sahoo

Subramanian

Srivastava³

2015

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this paper, a dynamic mathematical model of an autonomous ground vehicle was used to analyse its transient response and to design a heading-angle controller for the vehicle. A suitable 'control-oriented model' that could accurately characterize the phenomenon of interest was used to design the controller. The efficacy of this model was evaluated by corroborating its results with experimental data. This model included the cornering stiffness of the tyres as an unknown parameter, and two approaches were attempted to estimate its value. The dynamics of the actuator were included in the analysis since the response time to steer the front wheel is of the same order as that of the heading-angle dynamics of the vehicle. The performance of two controllers (namely a classical transfer-function-based controller and an optimal linear quadratic regulator) were evaluated using the IPG: CarMaker Ò simulation platform over a range of speeds. The transfer-function-based controller was also implemented on the experimental test vehicle at low speeds (high-speed experimental implementation was not possible because of safety concerns). It was found that control gain scheduling helped to track the desired heading angles of the vehicle at various speeds. Subsequently, a lane-change manoeuvre using the test vehicle was performed to evaluate the controller further. It was found that the transfer-function-based headingangle controller could provide a comparable performance with that of the linear quadratic regulator, while keeping the sensing requirements to a minimum; thus, it was suitable for real-time implementation in an autonomous ground vehicle.

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Design and development of a heading angle controller for an unmanned ground vehicle

Cited by 8 publications

References 13 publications

Design and Implementation of a Wireless Medical Robot for Communication Within Hazardous Environments

Design and Implementation of a Wireless Medical Robot for Communication Within Hazardous Environments

A novel method for estimating the heading angle for underground Load-Haul-Dump based on Ultra Wideband

Evaluation of the transient response and implementation of a heading-angle controller for an autonomous ground vehicle

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