This report is exploring the advantages and disadvantages with some common sensors needed when positioning a mobile robot with Ackerman steering. Both absolute and relative methods are explored. Odometry based on measuring traveled distance and steering angle is tested and adjusted to obtain the best performance. A Kalman filter is constructed to improve steering angle measurements. The tests a...

We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The key idea is to take into account rate, and additionally, torque limitations of the steering actuator directly. Previous methods only take into account curvature rate limitations, which deal indirectly with steering r...

The concept of using the steering angle sensor to enhance positioning accuracy during Global Positioning System (GPS) outages is the focus of this article. This development of a GPS Micro-Electro-Mechanical Systems Inertial Measurement Unit (MEMS IMU) steering angle sensor vehicular positioning system is discussed in detail including the error dynamics and measurement models as well as integrat...

An obstacle avoidance algorithm: the Weighted Safety Vector Field (WSVF) method is presented. In determining the orientation of the mobile robot, the algorithm rst computes the primary steering angle for normal maneuvering which is derived based on the fuzzy inference rule. To cope with the constrained environments such as corner and hallway, the algorithm then computes the secondary steering a...

Path steering is a primitive 3D interaction task that requires the user to navigate through a path of a given length and width. In a previous paper, we have conducted controlled experiments in which users operated a pen input device to steer a cursor through a 3D path subject to fixed path properties, such as path length, width, curvature and orientation. From the experimental data we have deri...

Methods to calculate the correct steering angle are an important aspect of developing self-driving vehicles. Recently, prediction methods based on deep neural networks have achieved accurate results that outperform other over a range road types. This paper investigates for autonomous vehicle as regression problem and solves it using networks. The proposed approach obtains data in form coordinat...

A steering by wired haptic system based on disturbance rejection control techniques is presented. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle. The estimate...

A path tracking controller based on front wheel steering angle and additional yaw moment control is designed to achieve safe obstacle avoidance of distributed drive electric vehicles. Using sixth-degree polynomial at a given time with anti-collision anti-rollover conditions, the planning proposed. The are output by Model Predictive Control (MPC) controller. torque distribution Through vertical ...

In previous works, the authors showed that using robot-assisted steerable electrode array insertions can significantly reduce the insertion forces compared to non-steerable electrode arrays. In addition to steering the electrode array, it is possible to change its angle of approach with respect to the scala tympani. This paper focuses on determining the relevance of changing the angle of approa...