We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem of generating optimal motion splines. There has been little work in trajectory generation for vehicles with all-wheel steering capability compared to the Ackermann, differential-drive, or omnidirectional mobility syst...

This paper describes the steering controller of the CajunBot II, an autonomous vehicle designed for the DARPA Urban Challenge. The autonomous vehicle is a modified Jeep Wrangler Rubicon equipped with INS/GPS for localization, three sets of sensors and three single board computers. The control objective is to make the lateral error at a certain point ahead of the vehicle zero. The distance of th...

The paper presents a global chassis control (GCC) optimization approach using a gradient-based optimal control algorithm. The goal is to find optimal actions of various actuators such as active steering and active differential, which ensure satisfying the optimization criterion (e.g. trajectory following error minimization) subject to different equality and inequality constraints on state and c...

Sensitivity tests based on a spectral nudging (SN) technique are conducted to analyze the effect of large-scale environmental factors on the movement of typhoon Megi (2010). The error of simulated typhoon track is effectively reduced using SN and the impact of dynamical factors is more significant than that of thermal factors. During the initial integration and deflection period of Megi (2010),...

The execution process of a evolutionary algorithm typically involves some trial-and-error. This is due to the difficulty in setting the initial parameters of the algorithm especially when little is known about the problem domain. This problem is magnified when applied to many-objective optimisation, as care is needed to ensure that the final population of candidate solutions is representative o...

This paper proposes a reconfigurable current steering digital to analog converter (DAC). The differential non-linearity error (DNL) of the DAC is estimated on-chip. This is used to reconfigure the switching sequence to get a lower integral nonlinearity error (INL). A 10 bit segmented DAC along with the associated circuits for DNL estimation was designed and fabricated using 0.35μm CMOS technolo...

Various flight navigation strategies for birds have been identified at the large spatial scales of migratory and homing behaviours. However, relatively little is known about close-range obstacle negotiation through cluttered environments. To examine obstacle flight guidance, we tracked pigeons (Columba livia) flying through an artificial forest of vertical poles. Interestingly, pigeons adjusted...

steering assist system controls the force transfer behavior of the steering system and improves the steering probability of the vehicle. moreover, it is an interface between the diver and vehicle. fault detection in electrical assisted steering systems is a challenging problem due to frequently use of these systems. this paper addresses the fault detection and reconstruction in automotive elect...

Abstract: Many vehicle control systems are based on the yaw rate error to help the driver during oversteer and understeer conditions. The control systems usually operate on brake pressures distributions such as ESP and/or on active front and rear steering control. Recently many papers are focused on the design of integrated global chassis control systems. The main contribution of this paper is ...

There is a growing body of evidence to suggest that steering behavior during driving can be described as two separate functions: one based upon closed-loop sampling of near-range visual information and the other based upon an open-loop anticipatory utilization of far-range visual cues. Past research has been performed using diagnostic measures of steering performance that may not be ideal for t...