Dynamics and Advanced Motion Control of Unmanned Ground Off-Road Vehicles details both theoretical concepts such as planning and perception when working with UGVs, as well as more practical, hands-on aspects such as torque vectoring control. The book also covers related technologies such as intelligent and electrification of ground vehicles. After an introduction, initial chapters include an exploration of wheel-soil and track-soil interaction mechanisms, motion stability, motion control, fault detection and identification, and fault tolerance control. This book offers readers a detailed understanding of Unmanned Ground Vehicles by combining theory, applications and further developments.
Topics are covered in such a way that readers will be well versed on the current field of UGVs and will be able to implement future design and research in a feasible and effective way.
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Part 1 Modeling of off-road UGV 2. Modeling of track soil interaction for tracked unmanned ground vehicle 3. Dynamics of tracked UGVs in three-dimensional space 4. Modeling of driving modules of unmanned ground vehicle 5. Modeling of wheel soil interaction and dynamics of wheeled unmanned ground vehicle in three-dimensional space
Part 2 Advanced motion control of UGV 6. Motion stability performance concepts 7. State and load observer of unmanned ground vehicle 8. Motion stability enhanced controller design 9. Power management technology 10. Torque vectoring technology
Part 3 Fault tolerance control of off-road UGV 11. Fault detection and identification of unmanned ground vehicle 12. Fault-tolerance control of unmanned ground vehicle under off-road situation 13. Conclusions and prospects