Adaptive controllability of omnidirectional vehicle over unpredictable terrain

Ka C. Cheok; Micho Radovnikovich; Gregory R. Hudas; James L. Overholt; Paul Fleck

doi:10.1117/12.820298

19 May 2009 Adaptive controllability of omnidirectional vehicle over unpredictable terrain

Ka C. Cheok, Micho Radovnikovich, Gregory R. Hudas, James L. Overholt, Paul Fleck

Proceedings Volume 7352, Intelligent Sensing, Situation Management, Impact Assessment, and Cyber-Sensing; 73520S (2009) https://doi.org/10.1117/12.820298
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

In this paper, the controllability of a Mecanum omnidirectional vehicle (ODV) is investigated. An adaptive drive controller is developed that guides the ODV over irregular and unpredictable driving surfaces. Using sensor fusion with appropriate filtering, the ODV gets an accurate perception of the conditions it encounters and then adapts to them to robustly control its motion. Current applications of Mecanum ODVs are designed for use on smooth, regular driving surfaces, and don't actively detect the characteristics of disturbances in the terrain. The intention of this work is to take advantage of the mobility of ODVs in environments where they weren't originally intended to be used. The methods proposed in this paper were implemented in hardware on an ODV. Experimental results did not perform as designed due to incorrect assumptions and over-simplification of the system model. Future work will concentrate on developing more robust control schemes to account for the unknown nonlinear dynamics inherent in the system.

Citation Download Citation

Ka C. Cheok, Micho Radovnikovich, Gregory R. Hudas, James L. Overholt, and Paul Fleck "Adaptive controllability of omnidirectional vehicle over unpredictable terrain", Proc. SPIE 7352, Intelligent Sensing, Situation Management, Impact Assessment, and Cyber-Sensing, 73520S (19 May 2009); https://doi.org/10.1117/12.820298

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