Uncrewed Ground Vehicles (UGVs) and Nature-Inspired Designed Robot DIGIT and SPOT: A Review

Muktadir, MA; Yi, Sun; Hamoush, Sameer; Garfo, Selorm; Dekkata, Sai Charan; Li, Xingguang; Abrdo, Tereda, Amanuel; McKee, Richard H.; Brown, Kamar; Klawah, Normal

doi:10.3844/ajeassp.2022.274.287

Cited by 2 publications

(2 citation statements)

References 50 publications

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“…Change of acceleration with the help of the rotation matrix is achieved in the fixed frame. The difference between the estimated speed and desired speed is the error signal given to the controller to generate the required torque to send the wheels to meet the desired velocity (Muktadir et al, 2022). Determining the curvature and the Husky translation velocities, refer to Eq.…”

Section: Constraintsmentioning

confidence: 99%

LiDAR-Based Obstacle Detection and Avoidance for Navigation and Control of an Unmanned Ground Robot Using Model Predictive Control

Dekkata¹,

Yi²,

Muktadir³

et al. 2023

Journal of Mechatronics and Robotics

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Unmanned Ground Vehicles (UGVs) have, as of late, been utilized in a wide assortment of utilizations because of their flexibility, diminished expense, and quick response, among other benefits. Search and Rescue (SAR) is quite possibly the most conspicuous zones for the work of UGVs instead of a monitored mission, mainly due to its impediments on the expenses, human resources, and view of the human administrators. An ongoing way of arranging to utilize numerous helpful UGVs for the SAR mission is proposed in this study. This study aims to introduce the initial moves towards a Model Predictive Control (MPC) based peril evasion calculation for UGVs representing the vehicle elements through high constancy models and uses just surrounding data about the environment as given by the available onboard sensors. In particular, the paper presents the MPC definition for peril evasion utilizing a Light Detection and Ranging (LiDAR) sensor and applies it to a contextual of the effect of model constancy on the calculation's presentation, where execution is estimated principally when to arrive at the objective point. The Robot Operating System (ROS) is used to drive the sensors and visualize the data in RVIZ. This study presents MPC development for navigating Husky A200 by adjusting the longitudinal, lateral, and yaw motion command behaviors. The proposed algorithm for Husky A200 is tested indoors and compared the results with the simulation results plotted using MATLAB and GAZEBO. A novel simulator package is developed for the Husky using RVIZ and GAZEBO. The efficiency of the proposed MPC design is tested through simulation and compared with real world experiments, the real-time longitudinal movement follows the simulation results closely. For MPC's short-term optimization, an optimized control signal from a linear framework is utilized for a linear quadratic controller. According to the Husky position and orientation, applying a transformation to convert the map coordinate system to the Husky coordinate system. Transforming the map coordinate system helped in computing the errors because the initial vector considers position and orientation as zero.

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Section: Constraintsmentioning

confidence: 99%

LiDAR-Based Obstacle Detection and Avoidance for Navigation and Control of an Unmanned Ground Robot Using Model Predictive Control

Dekkata¹,

Yi²,

Muktadir³

et al. 2023

Journal of Mechatronics and Robotics

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show abstract

“…Human activity in areas that require performing monotonous, complex, and time-consuming tasks [27], especially where health and life can be at risk, has led to significant interest in the possibility of robotizing such operations and developing unmanned technologies [21]. Advanced systems increase the autonomy levels of the mentioned technologies [12,23], yet they are defined differently for mobile robots (rescue, military), vehicles, or industrial robots [10].…”

Section: Introductionmentioning

confidence: 99%

Study on the Influence of an UGV Suspension System on Camera Motion of the Teleoperation System

Rubiec,

Przybysz,

Łopatka

et al. 2024

PAR

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In the following article, the results of a study on the impact of the suspension system used in Unmanned Ground Vehicles (UGVs) on the kinematic excitation of cameras in teleoperation systems are presented. As indicated by preliminary reconnaissance studies, these excitations significantly affect the operator’s ability to perceive the environment and recognize images while driving. Currently, there is a lack of publications and guidelines in the literature regarding the design of UGV suspensions and their evaluation in terms of improving operator perception in teleoperation systems. The studies were conducted in a simulated environment using multibody systems, where various suspension structure variants were developed. The tests were carried out on the ISO 5008 rough test track. The evaluation of the tested suspension structures was carried out using a proprietary method, enabling parametric analysis and the selection of favorable solutions for improving image recognition by the UGV operator. Future research can focus on adjustment of the UGV suspension characteristics which could have significant influence on situational awareness and the operator’s ability to act effectively, especially during dynamic missions.

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Uncrewed Ground Vehicles (UGVs) and Nature-Inspired Designed Robot DIGIT and SPOT: A Review

Cited by 2 publications

References 50 publications

LiDAR-Based Obstacle Detection and Avoidance for Navigation and Control of an Unmanned Ground Robot Using Model Predictive Control

LiDAR-Based Obstacle Detection and Avoidance for Navigation and Control of an Unmanned Ground Robot Using Model Predictive Control

Study on the Influence of an UGV Suspension System on Camera Motion of the Teleoperation System

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