A model-based control for fast autonomous four-wheel mobile robots on soft soils is developed. This control strategy takes into account slip and skid effects to extend the mobility over planar granular soils. Each wheel is independently actuated by an electric motor. The overall objective is to follow a path roughly at relatively high speed. Some results obtained in dynamic simulation are prese...

In recent years, robotic devices have been explored across a wide range of disciplines as delivery mechanisms for multiple sensing technologies applied to structural asset monitoring. Typically the drivers for moving to automated delivery relate to operation in environments that would be hazardous for human operators (working at height, on live plant, or radioactive environments). The exact mea...

This paper proposes SSM(Sensor Steering Mechanism) for lateral guided vehicle with rear wheel steering mechanism. Authors demonstrated the geometry of SSM for the front wheel steer type and the reverse phase four-wheel steer type one. SSM presents a stable lateral guiding performance for automated vehicle which follows a straight and curved path created by guideway. The other hand, SSM is not e...

Direct Yaw moment Control systems (DYC) can maintain the vehicle in the driver’s desired path by distributing the asymmetric longitudinal forces and the generation of the Control Yaw Moment (CYM). In order to achieve the superior control performance, intelligent usage of lateral forces is also required. The lateral wheel forces have an indirect effect on the CYM and based upon their directio...

rails fracture by the growth of fatigue crack or critical crack is one of the prevalent defects in railway. the rail fracture, failure and stress analysis should be studied in order to prevention of rail fracture. in this paper, new formulation of contact stress for two rolling bodies is presented, where the results are closed to the hertz stress formulation. moreover, stress analysis is done b...

Wheel contour extraction from image is an important unit of any vision-based traffic accident analysis system, and automatically doing it is still a difficult task due to various distracting factors such as low contrast between the wheel and the ground, different wheel types and various weather conditions etc. In this work, a new automatic wheel extraction method is proposed, in which rather th...

In this paper we have presented a study on vision based autonomous driving of a four-wheel-drive platform for agricultural applications. The developed driving platform can be autonomously driven on any path pattern. The key contributions to this paper are development of unique navigation pattern to train the mobile robot to follow any kind of path pattern. We have demonstrated how speed, camera...

Ease of driving and flexibility in movements are very important for the developing automobile technology today. The aim study is to provide convenience driver by trying different modes steering system a vehicle. In this study, an electronic board has been designed 4 wheels With card made, user given opportunity choose from 3 (standard, circle, crab). that chooses according situations advantages...

The geometry of the tracks left by a bicycle has received much attention recently [9, 10, 11, 18, 20, 27]. In this paper we discuss the connection between the motion of a bicycle and that of a curious device known as a hatchet planimeter, and we will prove a conjecture about this planimeter that was made in 1906. Bicycle. We use a very simple model of a bicycle as a moving segment in the plane....