Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle

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dc.contributor.author Corral Abad, Eduardo
dc.contributor.author Meneses Alonso, Jesús
dc.contributor.author Gómez García, María Jesús
dc.contributor.author García Prada, Juan Carlos
dc.date.accessioned 2021-07-15T10:58:08Z
dc.date.available 2021-07-15T10:58:08Z
dc.date.issued 2018-01-01
dc.identifier.bibliographicCitation Corral, E., Meneses, J., Gómez, M J. & García, J. C. (2018). Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle. International Journal of Advanced Robotic Systems, 15(1), pp. 1-11.
dc.identifier.issn 1729-8806
dc.identifier.uri http://hdl.handle.net/10016/33088
dc.description.abstract The goal of this article is to design a navigation algorithm to improve the capabilities of an all-terrain unmanned ground vehicle by optimizing its configuration (the angles between its legs and its body) for a given track profile function. The track profile function can be defined either by numerical equations or by points. The angles between the body and the legs can be varied in order to improve the adaptation to the ground profiles. A new dynamic model of an all-terrain vehicle for unstructured environments has been presented. The model is based on a half-vehicle and a quasi-static approach and relates the dynamic variables of interest for navigation with the topology of the mechanism. The algorithm has been created using a simple equation system. This is an advantage over other algorithms with more complex equations which need more time to be calculated. Additionally, it is possible to optimize to any ground-track-profile of any terrain. In order to prove the soundness of the algorithm developed, some results of different applications have been presented.
dc.description.sponsorship The authors wish to thank the Spanish Government for financing provided through the MCYT project "RETOS2015: sistema de monitorización integral de conjuntos mecánicos críticos para la mejora del mantenimiento en el transporte-maqstatus" and also thank the anonymous reviewers for their insightful comments and suggestions on an earlier draft of this article.
dc.format.extent 11
dc.language.iso eng
dc.publisher SAGE
dc.rights © The Author(s) 2018.
dc.rights Atribución 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by/3.0/es/
dc.subject.other UGV
dc.subject.other Kinematics
dc.subject.other Navigation
dc.subject.other Algorithm
dc.subject.other Quasi-static
dc.subject.other Optimization
dc.title Methodology for the navigation optimization of a terrain-adaptive unmanned ground vehicle
dc.type article
dc.subject.eciencia Ingeniería Mecánica
dc.identifier.doi https://doi.org/10.1177/1729881417752726
dc.rights.accessRights openAccess
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 1
dc.identifier.publicationissue 1
dc.identifier.publicationlastpage 11
dc.identifier.publicationtitle International Journal of Advanced Robotic Systems
dc.identifier.publicationvolume 15
dc.identifier.uxxi AR/0000020910
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