This paper intends to demonstrate the development of an easy-to-use local human-machine interface that would allow any user to control distinct types of service robots, intuitively. This interface is based on the Nintedo Wii remote controller and consists of three operating modes: a steering wheel, an infra-red monitor and a movement identifier. These modes were tested on a cleaning robot and l...

115 Lincoln Laboratory automated four Husky Mark III mine-detection vehicles, the world’s first autonomous vehicles to steer using a novel localizing ground-penetrating radar. At nine tons, these autonomous vehicles are some of the largest to be put into combat operations to date. The vehicle is guided by a novel derivation of the pure pursuit steering algorithm adapted to a proportional four-w...

A wheel slip controller is developed and experimentally tested in a car equipped with electromechanical brake actuators and a brake-by-wire ABS system. A gain scheduling approach is taken, where the vehicle speed is viewed as a slowly time-varying parameter and the model is linearized about the nominal wheel slip. Gain matrices for the different operating conditions are designed using an LQR ap...

This paper presents a method to design path tracking controller with four-wheel independent braking (4WIB), drive (4WID) and steering (4WIS) systems equipped in in-wheel motor-driven electric vehicles (IWM-EVs). Generally, it is difficult calculate the angles of 4WIS braking/traction torques 4WIB/4WID for control. Moreover, there have been limitations an error dynamics-based controller, which r...

Hybrid tree harvester with a 60 kW diesel engine combined with a battery pile could be a "green" forest harvesting and transportation system. With the new design, the diesel engine maintains a constant engine speed, keeping fuel consumption low while charging the batteries that drive the forwarder. As an additional energy saving method, the electric motors work as generators to charge the batte...

This paper describes an agricultural vehicle modified to serve as a research platform for agricultural engineering. A tractor was equipped with a global positioning receiver, inertial/GPS system, geomagnetic direction sensor, and a monochrome camera for local and global sensing. For steering control, the tractor was equipped with an electro-hydraulic proportional steering valve, PWM coil valve ...

A riderless bicycle can automatically steer itself so as to recover from falls. The common view is that this self-steering is caused by gyroscopic precession of the front wheel, or by the wheel contact trailing like a caster behind the steer axis. We show that neither effect is necessary for self-stability. Using linearized stability calculations as a guide, we built a bicycle with extra counte...

Mobile robotics science has been influenced by developments in electronics and software sciences it reached significant levels the last 50 years. This study aims to present design of an indoor mobile robot platform (MAVI-BOT). The consists a chassis made aluminum, 2D light detection ranging sensor (LIDAR), inertial measurement unit (IMU), infra-red camera LED projection, industrial PC. platform...