International Journal of Vehicle Autonomous Systems http://www.inderscience.com/browse/index.php?journalID=30&year=2011&vol=9&issue=3/4 Inderscience Publishers Ltd en-uk International Journal of Vehicle Autonomous Systems 1471-0226 1741-5306 © 2011 Inderscience Publishers Ltd editor@inderscience.com https://www.inderscience.com/images/files/coverImgs/ijvas_scoverijvas.jpg http://www.inderscience.com/browse/index.php?journalID=30&year=2011&vol=9&issue=3/4 http://www.inderscience.com/link.php?id=41381 The paper is concerned with the design of a system for control of an Unmanned Ground Vehicle (UGV) based on a multi-axle all-wheel drive chassis with hydrostatic wheel drive. A technique is also suggested for improving the efficiency of the driveline system by means of effective control of the hydrostatic drive that improves the energy performance of the wheel robot. Design of automatic control of multi-axle motor vehicles with a hydrostatic wheel drive
S.B. Shukhman, V.I. Solovyev, M.A. Malkin
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 145 - 163
The paper is concerned with the design of a system for control of an Unmanned Ground Vehicle (UGV) based on a multi-axle all-wheel drive chassis with hydrostatic wheel drive. A technique is also suggested for improving the efficiency of the driveline system by means of effective control of the hydrostatic drive that improves the energy performance of the wheel robot.

]]> 10.1504/IJVAS.2011.041381 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 145 - 163 S.B. Shukhman V.I. Solovyev M.A. Malkin NAMI-Service, Innovation Company, Avtomotornaya ul., 4a, Moscow 125438, Russia. ' NAMI-Service, Innovation Company, Avtomotornaya ul., 4a, Moscow 125438, Russia. ' NAMI-Service, Innovation Company, Avtomotornaya ul., 4a, Moscow 125438, Russia UGV unmanned ground vehicles motor vehicles all-wheel drives multi-axle vehicles flexible intelligent drives hydrostatic wheel drives automatic control power distribution hydrostatic driveline system efficiency energy performance wheeled robots. 2011-07-21T23:20:50-05:00 9 3/4 145 163 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41382 A new approach to mathematical modelling, algorithms of control and computer-aided modelling results of multi-axle wheel vehicles with active suspension as well as the design of intelligent controller for the active suspension are the focus of this paper. The intelligent controller, which combines accuracy and speed without overshoot, provides adaptive control and guarantees a stable controlled system in non-stationary conditions. The developed controller target and actual values of output of the controlled system and criterion, which are inter-connected, allow the properties of the criterion to vary in simple form. Active suspension of the unmanned/autonomous multi-supported ground vehicles
Reshat Fourounjiev, Nicolay Hurski
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 164 - 179
A new approach to mathematical modelling, algorithms of control and computer-aided modelling results of multi-axle wheel vehicles with active suspension as well as the design of intelligent controller for the active suspension are the focus of this paper. The intelligent controller, which combines accuracy and speed without overshoot, provides adaptive control and guarantees a stable controlled system in non-stationary conditions. The developed controller target and actual values of output of the controlled system and criterion, which are inter-connected, allow the properties of the criterion to vary in simple form.

]]> 10.1504/IJVAS.2011.041382 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 164 - 179 Reshat Fourounjiev Nicolay Hurski Department of Software of Computer Technology and Automated Systems, Belarusian National Technical University, 65, Nezavisimosty avn., 220013 Minsk, Belarus. ' Department of Software of Computer Technology and Automated Systems, Belarusian National Technical University, 65, Nezavisimosty avn., 220013 Minsk, Belarus active vibration protection systems adaptive algorithms intellect vehicles autonomous vehicles mathematical modelling active suspension multi-axle vehicles intelligent control controller design. 2011-07-21T23:20:50-05:00 9 3/4 164 179 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41383 In this paper, the main attention is development of dynamical model for a new locomotion pattern, which is inspired by worms and snakes. This mode of advancement, called rectilinear locomotion gait, has some good functions to be performed for a crawling mobile robot, and the most important of them are independence from directional friction and cross-over gaps, which may be in the search route. In this work, first, a simple model of rectilinear locomotion gait is introduced. Then, derivation of motion equation is done, and torques necessary for realising crawling mechanism will be calculated. Also, to confirm that it would achieve a forward motion in practical situation, the robot mechanism is simulated by engineering simulator software. Modelling and dynamic analysing of rectilinear mode of crawling locomotion
S.M.R.S. Noorani, Ahmad Ghanbari
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 180 - 188
In this paper, the main attention is development of dynamical model for a new locomotion pattern, which is inspired by worms and snakes. This mode of advancement, called rectilinear locomotion gait, has some good functions to be performed for a crawling mobile robot, and the most important of them are independence from directional friction and cross-over gaps, which may be in the search route. In this work, first, a simple model of rectilinear locomotion gait is introduced. Then, derivation of motion equation is done, and torques necessary for realising crawling mechanism will be calculated. Also, to confirm that it would achieve a forward motion in practical situation, the robot mechanism is simulated by engineering simulator software.

]]> 10.1504/IJVAS.2011.041383 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 180 - 188 S.M.R.S. Noorani Ahmad Ghanbari Center of Excellence for Mechatronics, Department of Mechanical Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran. ' Center of Excellence for Mechatronics, Department of Mechanical Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran snake robots crawling gait manipulator dynamics trajectory planning robot dynamics rectilinear locomotion gait dynamic modelling mobile robots robot motion simulation. 2011-07-21T23:20:50-05:00 9 3/4 180 188 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41384 We study the problem to steer, teleoperated as well as autonomously, a tractor that is to operate on a rough and slippery surface. The main idea is to control the effective steering angle of the vehicle. A benefit with this approach is that the vehicle will strive to move in a predefined way irrespective of the surface conditions. To test if the approach is usable we implemented a straight forward p-controller in combination with an estimator of the effective steering angle of the tractor. Our tests indicate that the approach can be useful. Future work would include studies on more advanced control strategies and estimators to reduce some of the problems that we address. Gyro feedback of a hydraulic steering system
Hakan Fredriksson, Kalevi Hyyppa, Ulf Andersson
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 189 - 202
We study the problem to steer, teleoperated as well as autonomously, a tractor that is to operate on a rough and slippery surface. The main idea is to control the effective steering angle of the vehicle. A benefit with this approach is that the vehicle will strive to move in a predefined way irrespective of the surface conditions. To test if the approach is usable we implemented a straight forward p-controller in combination with an estimator of the effective steering angle of the tractor. Our tests indicate that the approach can be useful. Future work would include studies on more advanced control strategies and estimators to reduce some of the problems that we address.

]]> 10.1504/IJVAS.2011.041384 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 189 - 202 Hakan Fredriksson Kalevi Hyyppa Ulf Andersson Department of Computer Science, Electrical and Space Engineering, Lulea University of Technology, SE-971 87 Lulea, Sweden. ' Department of Computer Science, Electrical and Space Engineering, Lulea University of Technology, SE-971 87 Lulea, Sweden. ' Department of Computer Science, Electrical and Space Engineering, Lulea University of Technology, SE-971 87 Lulea, Sweden teleoperation autonomous vehicles gyro feedback side-slip compensation snow removal tractors off-road vehicles hydraulic steering effective steering angle vehicle control. 2011-07-21T23:20:50-05:00 9 3/4 189 202 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41385 The paper develops a control theoretic leader-to-follower framework for performing task-based missions. It enables tracking trajectories and other task-based motions. Its modular architecture enables switching between controllers for a leader and followers as well as changing followers based on a specified mission. The framework is based on the model reference tracking control strategy for programmed motion. Initially, the strategy is developed for a single mobile robot. Its modular structure enables its extension to collaborating robots. Leader follower tracking control design for task-based missions
Elzbieta Jarzebowska
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 203 - 218
The paper develops a control theoretic leader-to-follower framework for performing task-based missions. It enables tracking trajectories and other task-based motions. Its modular architecture enables switching between controllers for a leader and followers as well as changing followers based on a specified mission. The framework is based on the model reference tracking control strategy for programmed motion. Initially, the strategy is developed for a single mobile robot. Its modular structure enables its extension to collaborating robots.

]]> 10.1504/IJVAS.2011.041385 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 203 - 218 Elzbieta Jarzebowska Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, 00-665 Warsaw, Nowowiejska 24 str., Poland nonholonomic systems tracking leader follower tracking tracking control nonholonomic systems task-based missions control design trajectory tracking model reference control mobile robots robot control collaborating robots robot cooperation multiple robots. 2011-07-21T23:20:50-05:00 9 3/4 203 218 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41386 One of the most crucial problems caused by the 'Vehicle-Mover Terrain' interaction lies in identification of friction and rolling parameters, as well as in interpretation of this information for on-board control systems. Simple analytical solutions are possible here in the case where a vehicle moves on a road. Otherwise, the uncertainty of the motion environment complicates the problem. Especially, this is true for autonomous vehicles and planetary rovers. The presented investigation discusses fuzzy method for the identification of wheel surface interaction in conditions with different grades of uncertainty. Examples are considered for characteristics of surface and vehicle dynamics. Fuzzy identification of uncertain ground parameters for autonomous mobile machines
Valentin Ivanov, Barys Shyrokau
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 219 - 240
One of the most crucial problems caused by the 'Vehicle-Mover Terrain' interaction lies in identification of friction and rolling parameters, as well as in interpretation of this information for on-board control systems. Simple analytical solutions are possible here in the case where a vehicle moves on a road. Otherwise, the uncertainty of the motion environment complicates the problem. Especially, this is true for autonomous vehicles and planetary rovers. The presented investigation discusses fuzzy method for the identification of wheel surface interaction in conditions with different grades of uncertainty. Examples are considered for characteristics of surface and vehicle dynamics.

]]> 10.1504/IJVAS.2011.041386 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 219 - 240 Valentin Ivanov Barys Shyrokau Automotive Engineering Department, Ilmenau University of Technology, Gustav-Kirchhoff – Platz 2, 98693 Ilmenau, Germany. ' Joint Institute of Mechanical Engineering, Academicheskaya 12, 200072 Minsk, Belarus fuzzy identification soil cohesion friction parameters vehicle control autonomous vehicles rolling parameters planetary rovers wheel surface interaction uncertainty vehicle dynamics surface dynamics fuzzy logic uncertain ground parameters. 2011-07-21T23:20:50-05:00 9 3/4 219 240 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41387 In recent years, efforts have been made to develop efficient path planners for manipulators with large numbers of Degrees of Freedom (DOFs). The first part of this paper includes modelling and dynamic analysing of the planar manipulators, which consist of n revolute joints and possess a frictional contact between end-effecter and environment. The dynamic analysis is based on Lagrangian formulation and equations of motion are represented in an explicit and straightforward manner. In following, inchworm robot, which is an articulated mechanism that performs a specific mode of crawling locomotion similar to the caterpillars, is modelled by a manipulator as a case study approach to part 1. In this problem, the required joint torques to achieve the locomotion pattern of one part of motion course are calculated. Manipulator simulation and its application to model a crawling gait locomotion
S.M.R.S. Noorani, Ahmad Ghanbari
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 241 - 252
In recent years, efforts have been made to develop efficient path planners for manipulators with large numbers of Degrees of Freedom (DOFs). The first part of this paper includes modelling and dynamic analysing of the planar manipulators, which consist of n revolute joints and possess a frictional contact between end-effecter and environment. The dynamic analysis is based on Lagrangian formulation and equations of motion are represented in an explicit and straightforward manner. In following, inchworm robot, which is an articulated mechanism that performs a specific mode of crawling locomotion similar to the caterpillars, is modelled by a manipulator as a case study approach to part 1. In this problem, the required joint torques to achieve the locomotion pattern of one part of motion course are calculated.

]]> 10.1504/IJVAS.2011.041387 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 241 - 252 S.M.R.S. Noorani Ahmad Ghanbari Center of Excellence for Mechatronics, Department of Mechanical Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran. ' Center of Excellence for Mechatronics, Department of Mechanical Engineering, University of Tabriz, P.O. Box 5166616471, Tabriz, Iran serial manipulators manipulator dynamics Lagrangian formulation frictional contact crawling robots robot path planning dynamic modelling worm robots caterpillars caterpillar robots joint torques robot motion robot dynamics. 2011-07-21T23:20:50-05:00 9 3/4 241 252 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41388 This paper presents a new approach to the creation of vehicles Active Safety Systems (ASSs). The software for the virtual design of the vehicle dynamics is examined. The new algorithms of control that improve the quality of work of the existing ASSs are offered. Our algorithms combine high accuracy and speed to influencing lateral stability of the vehicle and preventing accident. Besides, the algorithms provide simplicity for setting any properties of the motion of ASS-controlled variables. The efficiency of our approach in improving the quality of work of existing ASSs is proved by the results of computer simulation of the car braking mechanism with Anti-lock Braking System (ABS). Mechatronic system for intellectual control of the interaction between road and wheels of the autonomous ground vehicles
Reshat Fourounjiev, Yuli Slabko
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 253 - 268
This paper presents a new approach to the creation of vehicles Active Safety Systems (ASSs). The software for the virtual design of the vehicle dynamics is examined. The new algorithms of control that improve the quality of work of the existing ASSs are offered. Our algorithms combine high accuracy and speed to influencing lateral stability of the vehicle and preventing accident. Besides, the algorithms provide simplicity for setting any properties of the motion of ASS-controlled variables. The efficiency of our approach in improving the quality of work of existing ASSs is proved by the results of computer simulation of the car braking mechanism with Anti-lock Braking System (ABS).

]]> 10.1504/IJVAS.2011.041388 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 253 - 268 Reshat Fourounjiev Yuli Slabko Department of Software of Computer Technology and Automated Systems, Belarusian National Technical University, 65, Nezavisimosty avn., 220013 Minsk, Belarus. ' Department of Software of Computer Technology and Automated Systems, Belarusian National Technical University, 65, Nezavisimosty avn., 220013 Minsk, Belarus ASS active safety systems vehicle safety force principle adaptive control intellectual control vehicle dynamics lateral stability vehicle stability simulation vehicle braking anti-lock braking systems ABS automotive braking mechatronics road-wheel interaction autonomous vehicles ground vehicles intelligent control. 2011-07-21T23:20:50-05:00 9 3/4 253 268 2011-07-21T23:20:50-05:00 http://www.inderscience.com/link.php?id=41389 This paper presents a new approach to constrained trajectory generation dedicated to Advanced Driver Assistance Systems (ADAS). Based on the information provided by the digital map database of a navigation system, the proposed solution is devoted to a control-oriented trajectory generation approach taking account of constraints which limit the behaviour of a common car, relative to the road to be followed and finally linked to the driver. Characteristically, these trajectories stay within the traffic lane borders; at the same time, they minimise the energy along the path, and finally, they are curvature continuous. The present trajectory generation has been tested on a specific test track and the results show the efficiency of the proposed solution. Navigation-based constrained trajectory generation for advanced driver assistance systems
Jeremie Daniel, Abderazik Birouche, Jean-Philippe Lauffenburger, Michel Basset
International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 269 - 296
This paper presents a new approach to constrained trajectory generation dedicated to Advanced Driver Assistance Systems (ADAS). Based on the information provided by the digital map database of a navigation system, the proposed solution is devoted to a control-oriented trajectory generation approach taking account of constraints which limit the behaviour of a common car, relative to the road to be followed and finally linked to the driver. Characteristically, these trajectories stay within the traffic lane borders; at the same time, they minimise the energy along the path, and finally, they are curvature continuous. The present trajectory generation has been tested on a specific test track and the results show the efficiency of the proposed solution.

]]> 10.1504/IJVAS.2011.041389 International Journal of Vehicle Autonomous Systems, Vol. 9, No. 3/4 (2011) pp. 269 - 296 Jeremie Daniel Abderazik Birouche Jean-Philippe Lauffenburger Michel Basset Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France. ' Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France. ' Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France. ' Universite de Haute Alsace (UHA) – MIPS Laboratory, 12 rue des Freres Lumiere 68093 Mulhouse Cedex, France ADAS advanced driver assistance systems digital maps database constrained trajectory generation cubic splines convex optimisation vehicle navigation. 2011-07-21T23:20:50-05:00 9 3/4 269 296 2011-07-21T23:20:50-05:00