Savan Chhaniyara

The modelling and estimation of driving forces for unmanned ground vehicles in outdoor terrain

Ground vehicles traversing rough unknown terrain has many applications in a range of industries including agriculture, defence, mining, space exploration and construction. The interaction dynamics between the vehicle and the terrain play a crucial role in determining the mobility characteristics of the vehicle. The two critical parameters that influence the interaction dynamics are the wheel/track slip and the unknown soil parameters. An algorithm for identifying unknown soil parameters based on a dynamic model and sensor feedback is presented. A method for estimating vehicle slip parameters based on an optical flow algorithm and a sliding mode observer is also presented. The last section addresses the traversability prediction for tracked vehicles traversing in circular trajectories. The algorithms are developed for both tracked and wheeled vehicles. The algorithms are tested and evaluated using two specially designed test rigs, and the test results are presented in the paper.

A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition

A new velocity and position sensor concept for manned and unmanned ground vehicles is proposed. The idea of this system is to temporarily place artificial markers in the environment such as the surface the vehicle is maneuvering over [23-25]. Once the markers are placed in the environment, they have zero speed, i.e. they represent the speed of the environment over which the vehicle is traversing. The speed of these markers with respect to the moving vehicle is then measured using a two dimensional (possibly three dimensional) sensor affixed to the vehicle. The markers are preferably of temporary nature and to disappear as soon as the vehicle sensor has traversed over and the signal acquisition process has been completed. The proposed sensor system is composed of two main subsystems. The first subsystem generates the markers and places them on the surface. The second subsystem is a receiving element, which continuously acquires relative position signals from the markers placed on the road surface. This new sensor concept is envisaged to be applied in the following areas, automotive sector, planetary exploration and underwater seabed exploration. Initial experiments employing a camera system as sensor have been conducted and results are presented.

Experimental Study on Track-Terrain Interaction Dynamics in an Integrated Environment: Test Rig

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support ...

Visual odometry technique using circular marker identification for motion parameter estimation

This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support ...

Tractive Force Prediction for Unmanned Ground Vehicles in Rough Terrain

Abstract Unmanned ground vehicles traversing rough terrain can be applied in a wide range of industries, such as agriculture, defence, mining, space exploration and construction. The interaction dynamics between the vehicle and the terrain play a crucial role in determining the mobility characteristics of the vehicle. The two critical parameters that influence the interaction dynamics are the wheel/track slip and the unknown soil parameters. A method for estimating vehicle slip parameters based on an optical flow algorithm and a sliding mode observer is presented. A tractive force prediction algorithm based on the soil and slip information is developed to predict the traversability of the vehicle. The proposed algorithms are tested and evaluated using test rigs and mobile robots, and the test results are demonstrated in the paper.

MOTION ESTIMATION AND SELF-LOCALIZATION BASED ON COMPUTER VISION AND ARTIFICIAL MARKER DEPOSITION

This paper presents a new approach of self-localization utilizing artificial markers deposited from the mobile robot during motion. The main idea of this system is to temporarily place artificial markers in the environment such as the surface the robot is maneuvering over. Once the markers are placed in the environment, they have zero speed, i.e. they represent the speed of the environment over which the robot is traversing. The speed of these markers with respect to the moving robot is then measured using a two dimensional (possibly three dimensional) sensor affixed to the robot. The proposed sensor system is composed of two main subsystems. The first subsystem generates the markers and places them on the surface. The second subsystem is a receiving element, which continuously acquires relative position signals from the markers placed on the surface. This new sensor concept is envisaged to be applied in the following areas, automotive sector, planetary exploration and underwater seabed exploration. This approach also can be extended easily for walking machines. Initial experiments employing a camera system as sensor have been conducted and results are presented.