This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow’s theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.

This paper develops a local controllability result for Multiple Model Driftless Affine (MMDA) control systems. The controllability result can be interpreted as a non-smooth extension of Chow’s theorem, and uses a set-valued Lie Bracket. These results are interpreted in terms of an illustrative example involving an overconstrained wheeled vehicle.

Design patterns represent a generalized approach to solving a related set of problems. Typically, a design pattern does not provide reusable code. Instead it provides a common vocabulary and a generalized approach in an application-independent manner. We have developed a design pattern for use in controlling autonomous vehicles. The control of individual components within an autonomous vehicle ...

This work carries out design and implementation of a PID control algorithm utilizing genetic algorithm as an optimization technique for a novel design of a two-wheeled vehicle with an extended rod. The vehicle design offers an additional feature to the conventional inverted pendulum on two wheels. The intermediate body (IB) of the vehicle is composed of two co-axial parts connected by a linear ...

The author's team analyzed a bicycle as two-wheeled vehicle. (TWV) purpose of the study was to estimate parameters affecting reaction time cyclist. Depending on type brake system, mass vehicle and cyclist, speed, designs graphs were built, their analysis carried out. Based test results, factors cyclist in case danger disclosed.