Fuzzy identification of uncertain ground parameters for autonomous mobile machines
by Valentin Ivanov, Barys Shyrokau
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 9, No. 3/4, 2011

Abstract: 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.

Online publication date: Thu, 21-Jul-2011

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