The experience of military conflicts the last decades has shown constantly growing role armored wheeled vehicles (AWVs). In recent years, a significant number AWVs various purposes have been developed and adopted by security forces Ukraine: personnel carriers; carriers anti-tank weapons, anti-aircraft mortars; machines radio-electronic intelligence warfare; medical evacuation vehicles, etc. tha...

In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model [1]. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the fr...

Abstract: This paper proposes a tracking control method for a certain type of differential-drive wheeled mobile robot, called automated guided vehicles (AGVs), using a continuous mode approach of sliding mode control (SMC). The SMC applied produces a continuous signal in between the U and –U control signals instead of discrete ones. The controller is applied to control the velocity and directio...

This paper presents results from recent hardware experiments using two forms of on-line Mixed-integer Linear Programming (MILP). The demonstrations were performed on wheeled ground vehicles, with a view to future use on autonomous teams of UAVs. The first experiment uses MILP at a high-level to account for a limited detection horizon while maneuvering in the presence of obstacles. The second pe...

This paper describes an effort towards creating a software/hardware platform for fairly testing driver algorithms designed to pilot 4-wheeled car like vehicles. Various approaches to a positioning system and control system are described in the paper, along with the optimal solutions to both: interfacing with a standard model car radio transmitter for the control system and a rotating laserbased...

A Tuk-tuk, also known as a motorized tricycle, is three-wheeled vehicle with wheels symmetrically arranged in the longitudinal driving direction. Compared to four-wheeled vehicles, tuk-tuks have less stability. Classical Tuk-tuks typically metal occupant compartment without doors, resulting direct contact between occupants and structure. In tropical countries heavy rainfall, flooded roads are c...