DYNAMIC CONTROL AND SIMULATION OF ACTIVELY-COORDINATED ROBOTIC TERRAIN-ADAPTIVE WHEELED VEHICLES

This dissertation focuses on the development of algorithms for the coordination, control, and dynamic simulation of actively-coordinated wheeled vehicle systems. Force distribution equations for general tree-structured robotic mechanisms are developed. Objective functions are also developed for investigating and controlling actively- articulated wheeled vehicles. A dynamic simulator is created for simulating multiple-module variably-configured wheeled vehicles operating on uneven, faceted terrain. A wheel-terrain contact model is then developed for computing the contact positions and forces for these vehicles.

• Supplemental Notes:
  • Publication Date: 1999 UMI Company, Ann Arbor MI Remarks: Thesis (Ph. D.)--Ohio State University
• Corporate Authors:

  Ohio State University, Columbus

  190 North Oval Drive
  Columbus, OH  United States  43210
• Authors:
  • Hung, Min-Hsiung
• Publication Date: 1999

Language

• English

Media Info

• Pagination: 173 p.

Subject/Index Terms

• TRT Terms: Autonomous land vehicles; Computer algorithms; Robotics; Vehicle dynamics
• Subject Areas: Vehicles and Equipment;

Filing Info

• Accession Number: 00791781
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Report/Paper Numbers: AAT 9931617 (UMI order no.)
• Files: PATH
• Created Date: May 5 2000 12:00AM