Composite nonlinear extended state observer and its application to unmanned ground vehicles
Sign Up to like & getrecommendations! Published in 2021 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2021.104731
Abstract: Abstract In this paper, a disturbance-observer-based control strategy is proposed for longitudinal control and lateral control of unmanned ground vehicles. A composite nonlinear extended state observer is put forward to estimate the total disturbance. A… read more here.
Keywords: unmanned ground; nonlinear extended; extended state; state observer ... See more keywords
A Robust SINS/VO Integrated Navigation Algorithm Based on RHCKF for Unmanned Ground Vehicles
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Access"
DOI: 10.1109/access.2018.2873292
Abstract: High precision localization information is the precondition of unmanned ground vehicles. But the global navigation satellite system (GNSS) signal turns unreliable in urban and forest areas since it is blocked by buildings and trees easily,… read more here.
Keywords: ground vehicles; integrated navigation; unmanned ground; navigation ... See more keywords
Exploiting Singular Configurations for Controllable, Low-Power Friction Enhancement on Unmanned Ground Vehicles
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2977266
Abstract: This letter describes the design, validation, and performance of a new type of adaptive wheel morphology for unmanned ground vehicles. Our adaptive wheel morphology uses a spiral cam to create a system that enables controllable… read more here.
Keywords: unmanned ground; power; friction; ground vehicles ... See more keywords
A Cloud Big-Data-Driven Dynamics Control Approach for Unmanned Ground Vehicles for Safety Improving
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Intelligent Transportation Systems Magazine"
DOI: 10.1109/mits.2021.3067926
Abstract: Unmanned ground vehicles (UGVs) are important elements in the future intelligent transportation system (ITS), which is supposed to conduct various tasks for human beings. Obviously, the traditional edge-side (vehicle-side) dynamics control system strictly limits the… read more here.
Keywords: unmanned ground; controller; ground vehicles; big data ... See more keywords
Experimental Validation of Linear and Nonlinear MPC on an Articulated Unmanned Ground Vehicle
Sign Up to like & getrecommendations! Published in 2018 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2018.2854877
Abstract: This paper focuses on the trajectory tracking control problem for an articulated unmanned ground vehicle. We propose and compare two approaches in terms of performance and computational complexity. The first uses a nonlinear mathematical model… read more here.
Keywords: framework; ground vehicle; time; unmanned ground ... See more keywords
Unmanned Aerial Vehicle (UAV)-Assisted Path Planning for Unmanned Ground Vehicles (UGVs) via Disciplined Convex-Concave Programming
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Vehicular Technology"
DOI: 10.1109/tvt.2022.3168574
Abstract: Thelast decade has witnessed growing research interests in the path-planning problem for unmanned ground vehicles (UGVs) equipped with RGB-D cameras or LiDARs. However, apart from their extremely high cost, these sensors may be obscured by… read more here.
Keywords: ground vehicles; vehicles ugvs; path; unmanned ground ... See more keywords
UWB Base Station Cluster Localization for Unmanned Ground Vehicle Guidance
Sign Up to like & getrecommendations! Published in 2021 at "Mathematical Problems in Engineering"
DOI: 10.1155/2021/6639574
Abstract: In this paper, we seek to provide unmanned ground vehicles with positioning service using ultrawideband (UWB) technology, a high-accuracy positioning approach. UWB is chosen for two distinct reasons. First, it does not rely on global… read more here.
Keywords: uwb base; localization; base station; unmanned ground ... See more keywords
Path planning and robust fuzzy output-feedback control for unmanned ground vehicles with obstacle avoidance
Sign Up to like & getrecommendations! Published in 2020 at "Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering"
DOI: 10.1177/0954407020978319
Abstract: Obstacle avoidance strategy is important to ensure the driving safety of unmanned ground vehicles. In the presence of static and moving obstacles, it is challenging for the unmanned ground vehicles to plan and track the… read more here.
Keywords: obstacle avoidance; output feedback; unmanned ground; output ... See more keywords
Efficient and adaptive lidar–visual–inertial odometry for agricultural unmanned ground vehicle
Sign Up to like & getrecommendations! Published in 2022 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/17298806221094925
Abstract: The accuracy of agricultural unmanned ground vehicles’ localization directly affects the accuracy of their navigation. However, due to the changeable environment and fewer features in the agricultural scene, it is challenging for these unmanned ground… read more here.
Keywords: odometry; agricultural unmanned; ground vehicles; unmanned ground ... See more keywords
Cooperation between an unmanned aerial vehicle and an unmanned ground vehicle in highly accurate localization of gamma radiation hotspots
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881417750787
Abstract: This article discusses the highly autonomous robotic search and localization of radiation sources in outdoor environments. The cooperation between a human operator, an unmanned aerial vehicle, and an unmanned ground vehicle is used to render… read more here.
Keywords: ground vehicle; unmanned aerial; vehicle; unmanned ground ... See more keywords
Machine Learning Feature Extraction Based on Binary Pixel Quantification Using Low-Resolution Images for Application of Unmanned Ground Vehicles in Apple Orchards
Sign Up to like & getrecommendations! Published in 2020 at "Agronomy"
DOI: 10.3390/agronomy10121926
Abstract: Deep learning and machine learning (ML) technologies have been implemented in various applications, and various agriculture technologies are being developed based on image-based object recognition technology. We propose an orchard environment free space recognition technology… read more here.
Keywords: resolution; machine learning; low resolution; unmanned ground ... See more keywords