MODELLING AND SIMULATING MOVEMENTS OF MULTI-ARTICULATED MOBILE ROBOTS OR VEHICLES - ANALYTICAL AND FUZZY APPROACH

For mobile articulated robots or vehicles with more than one link, even for an experienced operator, backing-up leads to jack-knifing. In our approach, the operator or a supervisory system will set the direction or the desired trajectory of the last trailer and the "intelligent" controller will drive the system for the path tracking. The scope of our study is the path tracking in forward or backward directions, via intelligent non-linear control, of multi-articulated mobile robots or vehicles (tractor-trailers). To solve the control problem we are considering a strategy based on nonlinear inverse control, where a neural or fuzzy controller is designed as an inverse model approximation of the dynamic system. As a contribution towards the realization of this type of control strategy, this paper aims at showing an environment where models, for a great variety of articulated vehicles, can be automatically generated. The environment also provides an interface for data acquisition, simulation and animation, even in presence of obstacles, and is a general tool to validate control strategies. For backward movements, our model assumes low speed and no slippage, which is realistic and still leaves a very complex model. This article also proposes original methods to develop fuzzy models of backward movements and verifies its "inversibility", building the path to reach intelligent control tools. The fuzzy models and the restrictions for the inverse model (critical configuration) are built interactively in the environment. For the covering abstract see ITRD E125059.

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9026519702
• Corporate Authors:

  Routledge

  4 Park Square, Milton Park
  Abingdon,   United Kingdom  OX14 4RN
• Authors:
  • FERREIRA, EDP
  • KULITZ, H R
  • DA SILVA, E B
  • PINHEIRO, M
• Publication Date: 2004

Language

• English

Media Info

• Features: References;
• Pagination: p. 51-70
• Serial:
  • COMPUTATIONAL MECHANICS IN VEHICLE SYSTEM DYNAMICS - PROCEEDINGS OF 5TH WORLD CONGRESS ON COMPUTATIONAL MECHANICS HELD IN VIENNA, AUSTRIA, JULY 2002 - SUPPLEMENT TO VEHICLE SYSTEM DYNAMICS
  • Volume: 40
  • Publisher: Routledge

Subject/Index Terms

• TRT Terms: Backing (Driving); Conferences; Data collection; Design; Driving; Fuzzy logic; Simulation; Trailers; Truck tractors; Trucks; Vehicles
• Uncontrolled Terms: Articulated vehicles
• ITRD Terms: 1225: Articulated vehicle; 8525: Conference; 8623: Data acquisition; 9011: Design (overall design); 6485: Fuzzy logic; 1236: Lorry; 1814: Reversing (veh); 9103: Simulation; 1214: Tractor; 1203: Trailer; 1255: Vehicle
• Subject Areas: Design; Motor Carriers; Vehicles and Equipment;

Filing Info

• Accession Number: 00988513
• Record Type: Publication
• Source Agency: Transport Research Laboratory
• ISBN: 90-265-1970-2
• Files: ITRD
• Created Date: Apr 4 2005 12:00AM