Design and validation of a reconfiguration strategy for a redundantly actuated intelligent autonomous vehicle

Bera, Tarun Kumar; Bouamama, Belkacem Ould; Samantaray, Arun Kumar

doi:10.1177/0959651812447486

Cited by 13 publications

(5 citation statements)

References 31 publications

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“…Fault-tolerant control approaches for offroad vehicles, e. g., [13,14], omnidirectional robots [15][16][17][18], as well as other mobile robots [19][20][21] are not further discussed as their specific application domain poses different requirements from a safety perspective compared to road vehicles. The same applies to fault-tolerant motion control of special purpose vehicles and vehicles with more than four wheels, for instance [22][23][24][25][26][27][28].…”

Section: Focus Of the Surveymentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree of fault tolerance. Therefore, we give a comprehensive overview of the state of the art in actuator fault-tolerant vehicle motion control with a focus on drive, brake, and steering degradations, as well as tire blowouts. This review shows that actuator fault-tolerant vehicle motion is a widely studied field; yet, the presented approaches differ with respect to many aspects. To provide a starting point for future research, we survey the employed actuator topologies, the tolerated degradations, the presented control approaches, as well as the experiments conducted for validation. Overall, and despite the large number of different approaches, the covered literature reveals the potential of increasing fault tolerance by fault-tolerant vehicle motion control. Thus, besides developing novel approaches or demonstrating real-time applicability, future research should aim at investigating limitations and enabling comparison of fault-tolerant motion control approaches in order to allow for a thorough safety argumentation.

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Section: Focus Of the Surveymentioning

confidence: 99%

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Stolte

2021

Preprint

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“…Translational and angular velocities of robot tips can be evaluated by differentiating equations (1)…”

Section: Kinematic Analytical Modelmentioning

confidence: 99%

“…Manipulator reconfiguration 1 is necessary due to high dependency on the robot and especially in unknown environments. The robot used in unknown climatic conditions mostly need to be reconfigured for performing specific tasks with environmental constraints.…”

Section: Introductionmentioning

confidence: 99%

Power-optimized motion planning of reconfigured redundant space robot

Dalla

Pathak

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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Main advantage of redundant space manipulator is that it can be configured differently by actuating various joints. Space manipulators are designed to be deployed in harsh surroundings, which in turn would increase the possibility of manipulator failure. Thus, the enhancement of the capabilities of the robots and the failures thereafter are a major concern. This article presents three aspects of hyper-redundant space robot. First, the control strategies based on minimum power criterion with all healthy joints are proposed. Second, hyper-redundancy is put upon to reconfigure the space robot with the failure of locked joints. Third, the optimization of workplace trajectory of the manipulator is obtained by genetic algorithm and a minimum power criterion has been adopted in all three cases. The bond-graph technique is employed for robot modeling with the use of SYMBOLS Shakti software, which generates system equations in C++ code. This code is subsequently converted into a MATLAB program. The result obtained through simulation shows that 37% of the total power consumption was reduced by the actuators through an optimization approach.

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“…Autonomous navigation of four-wheel steering vehicles is a hot topic in academic circles in recent years. Compared with the traditional front wheel steering mode, the four-wheel steering vehicle 1 has great improvement in handling stability and mobility, which makes the unmanned vehicle adapt to more complex road environment, such as the narrow and complex indoor environments. Dead reckoning algorithm [2][3][4] is a very common positioning method in the current fourwheel steering vehicles autonomous navigation process.…”

Section: Introductionmentioning

confidence: 99%

Combining extended Kalman filtering and rapidly-exploring random tree: An improved autonomous navigation strategy for four-wheel steering vehicle in narrow indoor environments

Liu

Jing

Wan

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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Autonomous navigation in narrow indoor environments such as indoor factory, warehouse and laboratory environments, and so on requires higher flexibility and navigation accuracy of the vehicle. This article presents an autonomous navigation method for four-wheel steering vehicle which combines extended Kalman filtering (EKF) and rapidly-exploring random tree (RRT) to improve the precision and flexibility of autonomous navigation of the vehicle in narrow indoor environments. The four-wheel steering model was established by the key parameters such as shape size and minimum angle of rotation of the experimental vehicle. Considering the problem that the uncertainty of pose estimation increases with time during autonomous navigation, an error model is schemed by adding noise to the output terminal of the analog odometer sensor. In order to suppress the accumulation of the uncertainty and keep it stable for a long time, the prediction and update steps of Kalman filter are introduced to filter the error. Then, the simultaneous positioning and mapping are established. Based on accurate positioning, a set of driving paths to reach the target is generated by RRT sampling algorithm. The simulation results show that positioning uncertainty remains stable over time, which verifies the effectiveness of the method. The overall positioning percentage error is 0.21%. Compared with traditional dead reckoning algorithm, the positioning accuracy is improved by 73.1% and the vehicle flexibility is increased by 68.6%. The four-wheel steering vehicle can find an ideal trajectory in narrow indoor environments, which assures the efficiency of the autonomous navigation and the traveling quality of the navigation route. Finally, the experimental results are consistent with the simulation results, which further verifies the effectiveness of the proposed algorithm.

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Design and validation of a reconfiguration strategy for a redundantly actuated intelligent autonomous vehicle

Cited by 13 publications

References 31 publications

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Actuator Fault-Tolerant Vehicle Motion Control: A Survey

Power-optimized motion planning of reconfigured redundant space robot

Combining extended Kalman filtering and rapidly-exploring random tree: An improved autonomous navigation strategy for four-wheel steering vehicle in narrow indoor environments

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