Dynamics and Advanced Motion Control of off-Road UGVs
In: Emerging Methodologies and Applications in Modelling, Identification and Control Ser.
Front Cover -- Dynamics and Advanced Motion Control of Off-Road UGVs -- Copyright Page -- Dedication -- Contents -- Foreword -- 1 Introduction -- 1.1 Overview -- 1.2 Related topics on modeling of unmanned ground vehicle -- 1.2.1 Nonholonomic and constraint -- 1.2.2 Modeling of wheeled unmanned ground vehicle with Ackerman steering -- 1.2.3 Modeling of tracked unmanned ground vehicle -- 1.3 Terramechanics, slip estimation and control -- 1.4 Motion control algorithms -- 1.4.1 PID control -- 1.4.2 Sliding mode control -- 1.4.3 Fuzzy logic control -- 1.4.4 Artificial neural network based control -- 1.4.5 Adaptive control -- 1.4.6 Robust control -- 1.4.7 Discussion on the algorithms above -- 1.4.7.1 Discussion -- 1.4.7.2 Recent trend -- 1.4.7.3 Brief summary -- 1.5 Conclusions -- References -- 1 Modelling of off-road UGV -- 2 Modeling of track-soil interaction for tracked unmanned ground vehicle -- 2.1 Introduction -- 2.2 Fundamentals of vehicle terrain mechanics -- 2.2.1 Fundamentals of soils -- 2.2.2 Fundamentals of vehicle terrain dynamics -- 2.2.3 Identification of parameters of soil -- 2.3 Analysis on longitudinal slipping -- 2.3.1 Motion resistance of a track -- 2.3.2 The traction effort and slip of a track -- 2.4 Analysis on side slipping -- 2.4.1 Isotropic distribution of mass -- 2.4.2 Condition of noncoincidence of center of gravity and pure instant center -- 2.4.2.1 Principle of calculus of variations -- 2.4.2.2 Calculus of variations based analysis on sideslip -- 2.4.3 Analysis on rotation radius -- 2.5 Experimental studies -- 2.6 Summary -- References -- 3 Dynamics of tracked UGVs in three-dimensional space -- 3.1 Introduction -- 3.2 Modeling of main body -- 3.2.1 Newton-Euler method based dynamic model -- 3.2.2 Analytical mechanics method based dynamic model -- 3.3 Summary -- References.