Mobile Robots are used to venture through types of environments where wheel slip is a threat. Wheel slip is a hazard to mobile robots in that it introduces error in dead reckoning measurement and in some instances causes the robot to halt is forward progress. To compensate for traction loss several methods are used to determine the terrain characteristics. One of these methods is Pacejka’s Tire...

In a sampled data system, frequency components greater than half the sampling rate "alias" (shift) into the frequency band of interest. Most of the time, aliasing in an undesirable side effect, so the "undersampled" higher frequencies are simply filtered out before the A/D stage. But sometimes, the undersampling is deliberate and the aliasing causes the A/D system to function as a mixer. This a...

This paper discusses the path planning and path-following control for a four wheel drive (4WD), steer-articulated boom lift driven by hydraulic actuators. The environment is assumed to be both static known. will done in two phases, where first one finds crude, collision-free accounting vehicle dimensions, this smoothed with smoothing algorithm satisfy kinematic dynamic constraints imposed its c...

In this paper we have studied the electric power steering system for a front wheelsteered, rear-wheel driven four wheels vehicle. A controller has been designed for our model with the help of assist characteristics curves and PID action. We have carried out simulation on different types of vehicle paths which include circular and moose test path. We chose two different cases of steering and for...

The sample-path method is one of the most important tools in simulation-based optimization. The basic idea of the method is to approximate the expected simulation output by the average of sample observations with a common random number sequence. In this paper, we describe a new variant of Powell’s UOBYQA (Unconstrained Optimization BY Quadratic Approximation) method, which integrates a Bayesian...

The paper deals with the design and the implementation of a robust path-following feedback controller, based on the dynamic model of a four-wheel skidsteering robot, performing high speed turns. The control inputs are respectively the linear velocity and the yaw angle. The main object of this paper is to elaborate a sliding mode controller, proved to be robust enough to avoid the knowledge of t...

This paper describes an approach to detect the transmitted signals for 2×2 Multiple Input Multiple Output (MIMO) setup using roulette wheel based ant colony optimization technique. The results obtained are compared with classical zero forcing and least mean square techniques. The detection rates achieved using this technique are consistently larger than the one achieved using classical methods ...

This paper presents two results on sample paths for the Yule process: one fluid limit theorem and one sample path large deviation result. The main interest is to understand the way large deviation occurs in the case of non-homogeneous processes. There are indeed two new phenomena. First there is no “typical” speed of large deviation. Second, the large deviation event is concentrated on a finite...