Kinematic-Dynamic Modeling and Test Control of Tracked Drive Vehicle for Indoor Mapping
This paper presents one approach in designing and testing an unmanned ground vehicle (UGV) for indoor mapping. The approach makes use of computer real-time simulation and animation direct with the testing in real environment. Novel control architecture was proposed, by exploit the communication between 2 laptop installed Matlab/Simulink and telemetry data collected from it. The parameter values between real performance and model can be easily evaluated and also from its ladar scanning result, then researcher can explore more variation of modeling aspect, parameter and sensor-actuator configuration to enhance performance of their indoor unmanned vehicle.
Kinematics Dynamics Modeling Simulink Unmanned Vehicle UGV Mapping
KHALID bin Hasnan LUHUR Budi Saesar Faculty of Mechanical Manufacturing Engineering
Universiti Tun Hussein Onn Malaysia Parit Raja, 86400 Batu Pahat, Johor, Malaysia
国际会议
大连
英文
1510-1513
2011-10-19（万方平台首次上网日期，不代表论文的发表时间）