Kinematic-Dynamic Modeling and Test Control of Tracked Drive Vehicle for Indoor Mapping

Hasnan Bin Khalid; Budi Saesar Luhur

doi:10.4028/www.scientific.net/AMM.148-149.1510

Paper Titles

A Study on the Kinematics of 2-DOF Parallel Manipulator
p.1487

The Study of Permeability Revolution in Coal Reservoir during Methane Production
p.1491

Synthesis and Characterization of TiO₂ Thin Film by Self-Assembly Method
p.1500

Performance Improvement of a HFO Fuelled Medium-Speed Diesel Engine
p.1504

Kinematic-Dynamic Modeling and Test Control of Tracked Drive Vehicle for Indoor Mapping
p.1510

Heat Transfer and Flow Characteristics of Liquid Nitrogen Laminar Fulling Films in Cryogenic Heat Transfer
p.1514

A Study on Economic Analysis of HOQ
p.1519

The Schur Complement on Weak Block Diagonally Dominant Matrices and Weak Block H-Matrices
p.1523

Wind/PV Hybrid Energy System Matching Design Based on Backward Inference
p.1527

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 148-149Kinematic-Dynamic Modeling and Test Control of...

Kinematic-Dynamic Modeling and Test Control of Tracked Drive Vehicle for Indoor Mapping

Abstract:

This paper presents one approach in designing and testing an unmanned ground vehicle (UGV) for indoor mapping. The approach makes use of computer real-time simulation and animation direct with the testing in real environment. Novel control architecture was proposed, by exploit the communication between two laptop installed Matlab/Simulink and telemetry data collected from it. The parameter values between real performance and model can be easily evaluated and also from its ladar scanning result, then researcher can explore more variation of modeling aspect, parameter and sensor-actuator configuration to enhance performance of their indoor unmanned vehicle

You might also be interested in these eBooks

Mechanical Engineering, Materials and Energy

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 148-149)

Pages:

1510-1513

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.148-149.1510

Citation:

Cite this paper

Online since:

December 2011

Authors:

Hasnan Bin Khalid, Budi Saesar Luhur

Keywords:

Dynamic, Kinematics, Mapping, Modeling, Simulink, UGV, Unmanned Vehicle

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] J. D. Setiawan, M. Subchan, and A. Budiyono, Virtual reality simulation of fire fighting robot dynamic and motion, ICIUS 2007, Oct 24-25, 2007, Bali, Indonesia.

DOI: 10.1007/978-3-642-00264-9_12

Google Scholar

[2] B. Shamah, M. D. Wagner, S. Moorehead, J. Teza, D. Wettergreen, and W. L. Whittaker, Steering and Control of a Passively Articulated Robot, SPIE, Sensor Fusion and Decentralized Control in Robotic Systems IV, Vol. 4571, October, (2001).

DOI: 10.1117/12.444150

Google Scholar

[3] Campion G., Bastin G. and D'Andrea-Novel B. (1996): Structural properties and classi?cation of kinematic and dynamic models of wheeled mobile robots. — IEEE Trans. Robot. Automat., Vol. 12, No. 1, p.47–62.

DOI: 10.1109/70.481750

Google Scholar

[4] L.B. Saesar, K. Hasnan and P.A. Yudhistira. A Framework of telemetry technology application in robotic area using MATLAB toolboxes for education. In Proc. of the IEEE International Conference on Computer Application and Industrial Electronics (ICCAIE), (2010).

DOI: 10.1109/iccaie.2010.5735116

Google Scholar

[5] Hokuyo Automatic Co., Ltd. http: /www. hokuyo-aut. jp.

Google Scholar

[6] Hunt, B.R. A Guide to Matlab for Beginner and Experienced Users,. New York, Cambridge University Press, (2006).

Google Scholar

[7] Karris, S.T. Introduction to Simulink with Engineering Application,. USA: Orchad Publication, (2006).

Google Scholar

[8] L. Kneip, F. Tache, G. Caprari, and R. Siegwart. Characterization of the compact hokuyo urg-04lx 2d laser range scanner. In Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pages 1447–1454, May (2009).

DOI: 10.1109/robot.2009.5152579

Google Scholar