This paper presents the static balancing of a highly reconfigurable articulated wheeled vehicles with multiple leg-wheel subsystem. Articulated wheeled vehicles are a class of mobile robots which offer immense possibilities for enhanced locomotion-performance of autonomous mobile vehicles by virtue of the enormous reconfigurability within their articulated structure. However, changing the vehic...

This paper describes an algorithm to calculate near-optimal minimum time trajectories for four wheeled omnidirectional vehicles, which can be used as part of a high-level path planner. The algorithm is based on a relaxed optimal control problem. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The low computational complex...

In addition to the theoretical value of challenging optimal control problmes, recent progress in autonomous vehicles mandates further research in optimal motion planning for wheeled vehicles. Since current numerical optimal control techniques suffer from either the curse of dimensionality, e.g. the Hamilton-Jacobi-Bellman equation, or the curse of complexity, e.g. pseudospectral optimal control...

Whilst the energy efficiency of wheeled vehicles is fast improving, negotiating rough terrain still presents a significant problem. The alternative of using legged walking and running may provide a more versatile and possibly more efficient solution. Despite muscles only converting approximately 20% of chemical energy into mechanical work, animals achieve very efficient running gaits through st...

Individuals using wheeled mobility devices (WMDs) often use them as motor vehicle seats during transportation. Wheelchair occupant restraint systems (WORSs), consisting of upper torso and pelvic restraints, are usually mounted to the structure of transit vehicles to secure individuals within their wheelchair seats. This preliminary study attempts to evaluate the use and satisfaction of currentl...

Tracking of a moving ground target using acoustic signals obtained from a passive sensor network is a difficult problem as the signals are contaminated by wind noise and are hampered by road conditions, terrain and multipath, etc., and are not deterministic. Multiple target tracking becomes even more challenging, especially when some of the vehicles are light (e.g., wheeled) and some are heavy ...

Wheeled vehicles can move not only on a solid supporting surface, but also deformable surfaces (snow, ground, sand, etc.). When pneumatic wheel with high internal air pressure rolls over soil, the nature of wheels’ interaction ground is such that be considered rigid, since its normal deformation small. This greatly simplifies calculations associated analysis wheeled vehicles’ operation, taking ...

Tribhuwana Tunggadewi University Malang is one of the private universities in which has a growing number students continues to increase every year an impact on availability parking spaces campus. The problem that occurs increasing vehicle users need for available campus In existing conditions, it not enough accommodate vehicles, especially certain lecture days and when there are activities invi...

Potential increases in wind erosion that might be brought about by military vehicles traveling off-road during training are of concern to the U.S. military because wind erosion and vehicle dust emissions contribute to land and air quality degradation and can cause adverse effects on respiratory health. Field studies were conducted in the summer of 2012 at Fort Benning, Georgia, to assess the ef...