Kinematic-dynamic modeling and test control of tracked drive vehicle for indoor mapping
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 architechture proposed by exploit the communication between...
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| Main Authors: | , |
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| Format: | Article |
| Published: |
Trans Tech Publications Inc
2012
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| Online Access: | http://dx.doi.org/10.4028/www.scientific.net/AMM.148-149.1510 http://dx.doi.org/10.4028/www.scientific.net/AMM.148-149.1510 http://eprints.uthm.edu.my/3887/1/khalid_hasnan_5_U.pdf |
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| Summary: | 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 architechture proposed by exploit the communication between 2 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. |
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