Unmanned Land Vehicle Research Articles

Optymalne sterowanie hybrydowe układem giroskopowym

The paper analyses the selection of optimal controllers (LQR, SMC and PD) for a mechatronic gyroscope system used in scanning-tracking heads of mobile objects such as spacecrafts, unmanned land vehicles, flying drones or self-guided missiles. The integral of the absolute value of the deviation error of the set motion from the real moving object and the integral of the square of the state and control have been taken as the quality criterion. The results of computer simulation studies are presented.

Testing unmanned land vehicles in Estonia

A szerző Észtországban részt vett a PESCO iMUGS munkacsoport lezárását követő UGV-teszten. A tesztelésre 5 országból 12 csapatnevezett azzal a céllal, hogy az öt, egyre nehezebben végrehajtható feladatot minél rövidebb idő alatt, a legnagyobb precizitással hajtsa végre. A világon először megrendezett különleges megmérettetésre több mint 20 országból, 100-nál is nagyobb létszámú szakértői csoportnak érkezett.

Model of Autonomous Unmanned On-Road and Aerial Vehicle Carriers For Precision Agricultural Transport 4.0 : A Literature Review

The purpose of this study is to build a model of conveyance using unmanned land vehicles and unmanned aerial vehicles as transport vehicles on oil palm plantations. The method used in this study is a literature review on studies relating to unmanned vehicles, their potential and role in the future. One of the things that can be utilized from unmanned vehicles is the automation process of transporting goods from one place to another. In this study, unmanned vehicles are used to transport oil palm from plantations and bring it to the palm processing plant. The results of this study is a model that illustrates the use of unmanned vehicles for the automation of transporting oil palm on plantations. By utilizing this unmanned vehicle, it is hoped that the process of palm oil products will be faster, more accurate and precise in the process of transporting it from the plantation to the processing plant.

İnsansız Kara Araçlarından Kamera ile Görüntülenen Hareketli Nesnelerin Sınıflandırılması Amacıyla Geliştirilen Görüntü İşleme Tabanlı Yöntemlerin Karşılaştırılması

Bu calismada, hareketli platform olarak kullanilan insansiz kara araclarinin seyir halindeyken rotalari uzerindeki bir kisim hareketli nesnelerin tespiti icin goruntu isleme tabanli olarak gelistirilen iki yardimci sistemin performans karsilastirmasi yapilmistir. Yardimci sistemlerin gelistirilmesinde kuresel konumlandirma sisteminden saglanan cografi konum verileri kullanilmistir. Calismada cografi konumlarina gore modelleri cikartilan arka plan goruntuleri referans model ve anlik model olarak iki farkli sekilde incelenmistir. Referans modeller varsayilan arka plan (hareketli nesne icermeyen arka plan) goruntulerinden elde edilirken, anlik modeller ise gercek zamanli arka plan goruntulerinden elde edilmistir. Karsilastirma islemi sonucu belirlenen siluetler yapay sinir aglari kullanilarak siniflandirilmistir. Siniflandirma icin 5 giris ve 3 cikisli bir yapay sinir agi (YSA) mimarisi uygulanmistir. Mimarinin son katmaninda softmax fonksiyonu kullanilmistir. Yapay sinir aginda her bir cikis yaya, otomobil ve bisikletli olarak 3 farkli nesne sinifini temsil etmektedir. Ilk yontemde iki boyutlu goruntu cakistirma yontemi kullanilarak referans ve anlik goruntu cerceveleri hizalanmistir. Cerceve farki yontemi ile ayni hizaya getirilen cercevelerin aritmetik farklari alinarak goruntuye giren dinamik nesnelerin siluetleri elde edilmistir. Ikinci yontemde arka plan goruntuleri bloklara bolunmustur. Model olusturmak icin ortalama parlaklik degerleri kullanilmistir. Referans ve anlik modellerin karsilastirma islemi bloklar arasindaki Oklid uzakliklari hesaplanarak gerceklestirilmistir. Yapilan deneysel calismalarda; uzakliga bagli olarak %94 ile %71 arasi dogru siniflandirma oranlari elde edilmistir.

Teleoperation in Remote Steering System Built in Unmanned Land Vehicles

Unmanned ground platforms are increasingly used to perform tasks under direct threat to the operator’s life and health. Separating an operator from a controlled machine places high demands to its steering system. The requirement of reliability put to such platforms in terms of potential threats requires their steering systems to be very precisely controlled and tested at the stage of construction. The key element in the steering process of unmanned ground platforms are surroundings display systems that determine the success of conducting rescue operations. This paper presents an unmanned ground platform controlled by remote operator.

THE DEVELOPMENT OF AN EMBEDDED, INTEGRATED INS/GPS SYSTEM

An embedded, real-time, loosely-coupled INS/GPS integration system has been developed and used for an unmanned land vehicle's control and navigation. For this integrated system, a Kalman filter software is used for INS error damping and corrections via the weighted aiding of a GPS output. The detailed development work will be presented in this paper including algorithm simplification, sensor selection and critical problems solving. Vehicular trial is also conducted. Simulated outage in GPS availability is made to assess the bridging accuracy of this system.

High-level mobility controller for a remotely operated unmanned land vehicle

The U.S. Army Laboratory Command, as part of the Department of Defense Robotics Testbed Program, is developing a testbed for cooperative, real-time control of unmanned land vehicles. The program entails the development and integration of many elements which allow the vehicles to perform both autonomous and teleoperated functions. The National Institute of Standards and Technology (NIST) is supporting this program by developing the vehicle control system using the Real-time Control System (RCS) architecture. RCS is a hierarchical, sensory-based control system, initially developed for the control of industrial robots and automated manufacturing systems. NIST is developing the portions of RCS that control all vehicle mobility functions, coordinate the operations of the other subsystems on the vehicle, and communicate between the vehicle and the remote operator control station. This paper reviews the overall control system architecture, the design and implementation of the mobility and communication functions, and results from recent testing.