In this paper, we examine creation of a decentralized kinematic control scheme for a composite system of two (or more) wheeled mobile manipulators that can team up to cooperatively transport a common payload. Each mobile manipulator module consists of a differentially-driven wheeled mobile robot (WMR) with a mounted planar two-degree-offreedom (d.o.f) manipulator. A composite multi-degree-offre...

A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional Integral-Derivative (PID) control strategy has been implemented and initially teste...

This paper considers wheeled vehicles traversing unknown terrain, and proposes an approach for identifying the unknown soil parameters required for vehicle driving force prediction (drawbar pull prediction). The predicted drawbar pull can potentially be employed for traversability prediction, traction control, and trajectory following which, in turn, improve overall performance of off-road whee...

Chrono::Vehicle is a module of the open-source multi-physics simulation package Chrono, aimed at modeling, simulation, and visualization of wheeled and tracked ground vehicle multibody systems. Its software architecture and design was dictated by the desire to provide an expeditious and user-friendly mechanism for assembling complex vehicle models, while leveraging the underlying Chrono modelin...

The tractive performance justification of an off-road vehicle is so important that it ensures the vehicle mobility over the unprepared peat terrain. Tractive performance of Low Ground Pressure (LGP-30) wheeled vehicle is investigated on the low bearing capacity moderate peat terrain in Malaysia. The simulation results showed that the vehicle sinkage is more than the critical sinkage value of 10...

Title of Document: ROLE OF ON-BOARD SENSORS IN REMAINING LIFE PROGNOSTIC ALGORITHM DEVELOPMENT FOR SELECTED ASSEMBLIES AS INPUT TO A HEALTH AND USAGE MONITORING SYSTEM FOR MILITARY GROUND VEHICLES Richard Heine, Ph.D., 2008 Directed By: Professor Donald Barker, Department of Mechanical Engineering Improved reliability of military ground vehicle systems is often in direct conflict with increased...

Chrono::Vehicle is a module of the open-source multi-physics simulation package Chrono, aimed at modeling, simulation, and visualization of wheeled and tracked ground vehicle multibody systems. Its software architecture and design was dictated by the desire to provide an expeditious and user-friendly mechanism for assembling complex vehicle models, while leveraging the underlying Chrono modelin...

This paper proposes a modular and generic architecture to deal with Global Chassis Control. Reinforcement learning is coupled with intelligent PID controllers and an optimal tire effort allocation algorithm to obtain a general, robust, adaptable, efficient and safe control architecture for any kind of automated wheeled vehicle.