In this paper, an online energy management strategy (EMS) for hybrid electric tracked vehicle (HETV) is developed based on deep deterministic policy gradient (DDPG) with time-varying weighting factor to further improve economic performance of HETV and reduce computational burden. The DDPG applied model the EMS problem target HETV. Especially, a introduced here update old network parameters expe...

This paper focuses on the trajectory planning and tracking control of articulated tracked vehicles (ATVs). It utilizes path method based Hybrid A-star minimum snap smoothing to obtain feasible kinematic trajectory. To overcome highly non-linearity ATVs, we proposed a linear-parameter-varying (LPV) tracking-error model. Then, controller was formulated as adaptive model predictive (AMPC). The sim...

The Korean beekeeping industry is continuously declining owing to the aging worker population and a lack of automation. To solve problem manual transportation low automation tools in apiculture, multifunctional transport loading box was developed by modifying tracked vehicle previous studies. ensure safety modified an apiary, dynamic analysis virtual simulation conditions field test inside actu...

When introducing commercial driving simulators a few years ago, the main interest was focused either on operating the vehicle or on the reactions of the driver in traffic and in emergency situations. A comprehensive modeling of the vehicle dynamics was not required for these tasks. However, there are driving simulator applications which make much higher demands on the modeling of the vehicle dy...

The paper presents a framework for tracked vehicle 3D path planning in rough areas, with dynamic obstacles. The framework provides methods for real-time point cloud interpretation, segmentation and traversabilty analysis tacking also into account changes such as dynamic obstacles and provides a terrain structure interpretation. Moreover the paper presents R2A an extended version of randomized A...

Road sign detection is important to a robotic vehicle that automatically drives on roads. In this paper, road signs are detected by means of rules that restrict color and shape and require signs to appear only in limited regions in an image. They are then recognized using a template matching method and tracked through a sequence of images. The method is fast and can easily be modified to includ...