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The Impact of Attitude Feedback on the Control Performance and Energy Consumption in the Path-Following of Unmanned Rollers

Tianjin University, China-Zhan Wei, Xie Hui, Xu Quanzhi, Song Kang, Qiang Wei
  • Technical Paper
  • 2020-01-5029
Published 2020-02-24 by SAE International in United States
The unmanned roller is one of the most popular construction vehicles, for which the accurate path-following is one of the most important control task. The dual-antenna Global Positioning System (GPS), usually mounted on the top of the cabin and the front drum separately, is used to approximately measure the position and heading direction at the contact patch between the wheel and the road. However, in the presence of large variation in the attitude of the roller, caused by the uneven construction site, there is bias in position and heading measurement due to the wobble of the roller. Obviously, this introduces several disturbances to the path-following control. In this paper, the Attitude Heading Reference System (AHRS) is used to measure the attitude information thereby corrects the position and heading of the roller measured by GPS only. The effects of such attitude-based correction on the path-following control performance of the unmanned roller are assessed in experiments by using a cascaded disturbance rejection structure. Results show that relative to the GPS only solution, the usage of attitude correction…
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Report on Unmanned Ground Vehicle Reliability

Ground Vehicle Reliability Committee
  • Ground Vehicle Standard
  • J2958_202002
  • Current
Published 2020-02-24 by SAE International in United States

This information report is applicable to the reliability characteristics of unmanned ground vehicles.

Robot Performs Complex Maneuvers

  • Magazine Article
  • TBMG-35830
Published 2020-01-01 by Tech Briefs Media Group in United States

At a height of less than a foot, Salto (saltatorial locomotion on terrain obstacles) the robot can vault over three times its height in a single bound. First introduced in 2016, Salto now can bounce in place and jump through obstacle courses, potentially leaping through rubble to aid in search-and-rescue missions.

Localization and Mapping of Unknown Locations with Unmanned Ground Vehicles

  • Magazine Article
  • TBMG-34340
Published 2019-05-01 by Tech Briefs Media Group in United States

The main goals of this research are to enhance a commercial off-the-shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field- testing.

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Localization and Mapping of Unknown Locations with Unmanned Ground Vehicles

Aerospace & Defense Technology: May 2019

  • Magazine Article
  • 19AERP05_09
Published 2019-05-01 by SAE International in United States

Developing a commercial off-the shelf (COTS) software platform to enable UGVs to navigate and survive in complex environments.

The main goals of this research are to enhance a commercial off-the-shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field-testing.

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The CAN Bus: Driving the Future of Autonomous Military Vehicles

  • Magazine Article
  • TBMG-34343
Published 2019-05-01 by Tech Briefs Media Group in United States

It’s a crisp November day in Michigan, and a convoy of British and American resupply vehicles are rumbling along at a comfortable 25 miles per hour. In the lead is a British Army Rheinmetall MAN Military Vehicles (RMMV) HX-60 truck, trailed closely by two U.S. Army Oshkosh Light Medium Tactical Vehicles (LMTVs). In total, there are zero humans operating this convoy.

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The CAN Bus: Driving the Future of Autonomous Military Vehicles

Aerospace & Defense Technology: May 2019

  • Magazine Article
  • 19AERP05_02
Published 2019-05-01 by SAE International in United States

It's a crisp November day in Michigan, and a convoy of British and American resupply vehicles are rumbling along at a comfortable 25 miles per hour. In the lead is a British Army Rheinmetall MAN Military Vehicles (RMMV) HX-60 truck, trailed closely by two U.S. Army Oshkosh Light Medium Tactical Vehicles (LMTVs). In total, there are zero humans operating this convoy.

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JAUS / SDP Transport Specification

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS5669A
  • Current
Published 2019-04-22 by SAE International in United States
This SAE Aerospace Standard (AS) specifies a data communications layer for the transport of messages defined by the Joint Architecture for Unmanned Systems (JAUS) or other Software Defined Protocols (SDP). This Transport Specification defines the formats and protocols used for communication between compliant entities for all supported link-layer protocols and media. Although JAUS is the SDP used as the example implemented throughout this document, AS5669 can be used for any SDP that meets the required capabilities. A Software Defined Protocol is defined as an application data interface for communicating between software elements. The SDP is agnostic of the underlying communications protocol and in fact communicates in much the same manner regardless if the communicating entities are collocated in the same memory space or separated by a satellite link.
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Unmanned Systems Terminology Based on the ALFUS Framework

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • ARP6128
  • Current
Published 2019-04-22 by SAE International in United States
This SAE Aerospace Recommended Practice (ARP) describes terminology specific to unmanned systems (UMSs) and definitions for those terms. It focuses only on terms used exclusively for the development, testing, and other activities regarding UMSs. It further focuses on the autonomy and performance measures aspects of UMSs and is based on the participants’ earlier work, the Autonomy Levels for Unmanned Systems (ALFUS) Framework, published as NIST Special Publication 1011-I-2.0 and NIST Special Publication 1011-II-1.0. This Practice also reflects the collaboration results with AIR5665. Terms that are used in the community but can be understood with common dictionary definitions are not included in this document. Further efforts to expand the scope of the terminology are being planned.
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JAUS Unmanned Ground Vehicle Service Set

AS-4JAUS Joint Architecture for Unmanned Systems Committee
  • Aerospace Standard
  • AS6091
  • Current
Published 2019-04-22 by SAE International in United States
This document defines a set of standard application layer interfaces called JAUS Unmanned Ground Vehicle Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Unmanned Ground Vehicle Services represent the platform-specific capabilities commonly found in UGVs, and augment the Mobilty Service Set [AS6009] which is platform-agnostic. At present ten (10) services are defined in this document. These services are categorized as:
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