Pub Date : 2012-04-10DOI: 10.1109/ISMA.2012.6215184
Nathir A. Rawashdeh, L. Alkurdi, H. Jasim
Autonomous Unmanned Ground Vehicles (UGV's) are serving as a platform for specialized vehicles that are deployed in a wide range of fields including urban, military, domestic, and industrial settings. In this paper we present the development of a low cost UGV that uses various sensors including, a laser range finder, electronic compass, a Global Positioning System (GPS) receiver, computer vision, and intelligent control to detect safe travel areas and follow GPS waypoints. The battery powered UGV uses two electric motors that are actuated through Pulse Width Modulation (PWM), while implementing a differential drive that allows for great maneuverability using relatively a simple control. The vehicle was designed for, and competed at the 19'th annual Intelligent Ground Vehicle Competition (IGVC) held at Oakland University in Rochester, Michigan in June 2011. The implemented capabilities demonstrate the vehicles suitability to function as a platform for various applications such as autonomous mine detection, border or pipeline surveillance, warehouse organization or transport in manufacturing.
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Pub Date : 2012-04-10DOI: 10.1109/ISMA.2012.6215202
M. Cotsaftis
The problem of approaching with high precision contact two generally actuated objects or work-pieces in industrial environment is discussed in a large parameter range. It is first noticed that main three actuation systems, electrical, pneumatic and hydraulic, obey the same type of equations which are coupled to object dynamics including its specific material reaction. For complete safety, especially for avoiding excitation of long lasting and potentially damaging vibrations, a controller is researched which guarantees that at contact the two object are at full rest with respect to each other in the sense that both relative velocity and acceleration are strictly zero. This is not always the case with usual position and force controls. Present controller is an explicit family of extended PDA-type one including on top a new part the role of which is to exactly fulfill contact conditions. It is shown that minimum time control is not possible and that minimum energy control is not easily realizable, owing to natural system constraints. A workable control, allowing to achieve extremely high precision in micron range, is analytically displayed.
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