Pose Prediction of Autonomous Full Tracked Vehicle Based on 3D Sensor

Ni, Tao; Li, Wenhang; Zhang, Hongyan; Yang, Hongyong; Kong, Zhifei

doi:10.3390/s19235120

Cited by 8 publications

(6 citation statements)

References 25 publications

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“…e attitude and oscillation characteristics of the vehicle under the two driving conditions along a straight line and a bend are, respectively, analyzed [26,27]. e velocity of the vehicle is 80 Km/h in a straight line and 25 Km/h in a bend with the steering angle of 90°and the turning radius of 20 m. e change of the vehicle attitude angle along a straight line is shown in Figure 4.…”

Section: Analysis Of the Single-bogie Simulation Resultsmentioning

confidence: 99%

Analysis and Optimization of Driving Attitude and Oscillation Characteristics of Suspension-Type Small Rail Vehicles

Liu

Yue

Lin

et al. 2020

Shock and Vibration

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Suspension-type small rail personal rapid transit systems are widely concerned due to their high efficiency and reliability. The increasing demands for ride comfort have put forward higher requirements for vehicle stationarity. In the study, with a single-bogie vehicle as the research object, a dynamic equation and a simulation model are firstly established to calculate the attitude angle and lateral velocity of the vehicle. Then, with the small amplitude and fast attenuation of the attitude angle and lateral velocity in a straight line and a bend as optimization objectives, the simulation model is optimized in terms of a series of variables, including the bogie with or without the supporting wheel, the supporting wheel tread, the driving wheel tread, the guide wheel tread, and the changes of the center of mass of the vehicle. Then, the problem of severe vehicle pitch with the double-bogie structure is solved. Finally, the simulation results and the optimization scheme are experimentally verified. The above optimization measures can significantly improve the driving stationarity of suspension-type small rail vehicles and enhance ride comfort.

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Section: Analysis Of the Single-bogie Simulation Resultsmentioning

confidence: 99%

Analysis and Optimization of Driving Attitude and Oscillation Characteristics of Suspension-Type Small Rail Vehicles

Liu

Yue

Lin

et al. 2020

Shock and Vibration

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“…The main drawback of the current unmanned logistics vehicles is the lack of intelligent decision-making in the open road, which is not adapted to complex road conditions. S Li [6] et al conducted a study on the determination of driving speed, T Ni [7]et al studied the dynamic control of the vehicle, and J Zhang [8] et al investigated cooperative driving of unmanned logistics vehicles. P Bagga [9] et al studied multi-vehicle interaction.…”

Section: Intersection Scenario Analysismentioning

confidence: 99%

Research on decision fusion model for driving unmanned logistic vehicles based on complex road conditions

Zhang¹

2023

3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023)

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Traditional unmanned logistics vehicles mainly adopt a driving strategy of running along the track, which cannot adapt to complex roads and traffic. This paper introduces a fusion decision model for the behavior of unmanned logistics vehicles in complex road conditions, which can support intersections with traffic lights and complex traffic scenarios with multiple vehicles and multiple pedestrian flows. The paper implements a multi-state machine behavior fusion decision model for unmanned logistics vehicles by separately modeling the vehicle, pedestrian, and navigation situations at intersections with finite state machines, and then implementing model fusion through a fusion decision model. The paper use test vehicles to test in an indoor open road test site, and the experimental results show that the model can effectively avoid unmanned logistics vehicle blockage and route deviation at intersections, improve unmanned logistics vehicle intersection passage efficiency, and solve the technical problem that the traditional unmanned logistics vehicle cannot adapt to complex traffic road conditions.

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“…Although there are no related studies of pose estimation for planetary rovers, researchers have performed a large amount of research on robot systems, and most of the research on autonomous vehicles has been conducted on uneven terrains [20]. In ref.…”

Section: Related Workmentioning

confidence: 99%

A novel precise pose prediction algorithm for setting the sleeping mode of the Yutu-2 rover based on a multiview block bundle adjustment

Peng

et al. 2022

Robotica

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To set the sleeping mode for the Yutu-2 rover, a visual pose prediction algorithm including terrain reconstruction and pose estimation was first studied. The terrain reconstruction precision is affected by using only the stereo navigation camera (Navcam) images and the rotation angles of the mast. However, the hazard camera (Hazcam) pose is fixed, and an image network was constructed by linking all of the Navcam and Hazcam stereoimages. Then, the Navcam pose was refined based on a multiview block bundle adjustment. The experimental results show that the mean absolute errors of the check points in the proposed algorithm were 10.4 mm over the range of $\boldsymbol{L}$ from 2.0 to 6.1 m, and the proposed algorithm achieved good prediction results for the rover pose (the average differences of the values of the pitch angle and the roll angle were −0.19 degrees and 0.29 degrees, respectively). Under the support of the proposed algorithm, engineers have completed the remote setting of the sleeping mode for Yutu-2 successfully in the Chang’e-4 mission operations.

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Pose Prediction of Autonomous Full Tracked Vehicle Based on 3D Sensor

Cited by 8 publications

References 25 publications

Analysis and Optimization of Driving Attitude and Oscillation Characteristics of Suspension-Type Small Rail Vehicles

Analysis and Optimization of Driving Attitude and Oscillation Characteristics of Suspension-Type Small Rail Vehicles

Research on decision fusion model for driving unmanned logistic vehicles based on complex road conditions

A novel precise pose prediction algorithm for setting the sleeping mode of the Yutu-2 rover based on a multiview block bundle adjustment

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