TY - GEN
T1 - High-Frequency Vibration Reduction for Unmanned Ground Vehicles on Unstructured Terrain
AU - El-Kebir, Hamza
AU - Shafa, Taha
AU - Purushottam, Amartya
AU - Ornik, Melkior
AU - Soylemezoglu, Ahmet
N1 - Publisher Copyright:
© 2022, Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - High-frequency vibrations encountered during land transit of sensitive payloads have long been known to be a possible cause of payload damage and subsequent mission failure. As sensors are also adversely affected by this phenomenon, we aim to provide a solution to minimize high-frequency noise vibrations without reliance on high performance sensing. Naturally, this presents the need for on-board adaptive control capabilities to reduce sensor noise and damage to secured payloads. Thus, we present a novel approach to reducing high-frequency vibration content (HVC) encountered during transit, with the explicit goal of maintaining a desired vehicle speed while keeping high-frequency vibrations below a given threshold regardless of the terrain characteristics. To this end, we present a two-stage solution consisting of a vibration-compensating speed controller and an optimal tracking controller for control command determination. The proposed controller is implemented on a Clearpath Jackal unmanned ground vehicle and subjected to a priori unknown mixed terrain types. Experiments performed on these varying terrains show that the proposed control architecture is able to adjust the desired robot trajectory to remain below the vibration thresholds defined by the mission objective.
AB - High-frequency vibrations encountered during land transit of sensitive payloads have long been known to be a possible cause of payload damage and subsequent mission failure. As sensors are also adversely affected by this phenomenon, we aim to provide a solution to minimize high-frequency noise vibrations without reliance on high performance sensing. Naturally, this presents the need for on-board adaptive control capabilities to reduce sensor noise and damage to secured payloads. Thus, we present a novel approach to reducing high-frequency vibration content (HVC) encountered during transit, with the explicit goal of maintaining a desired vehicle speed while keeping high-frequency vibrations below a given threshold regardless of the terrain characteristics. To this end, we present a two-stage solution consisting of a vibration-compensating speed controller and an optimal tracking controller for control command determination. The proposed controller is implemented on a Clearpath Jackal unmanned ground vehicle and subjected to a priori unknown mixed terrain types. Experiments performed on these varying terrains show that the proposed control architecture is able to adjust the desired robot trajectory to remain below the vibration thresholds defined by the mission objective.
KW - Adaptive trajectory planning
KW - Navigation on unstructured terrain
KW - Vibration mitigation
UR - http://www.scopus.com/inward/record.url?scp=85128737586&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85128737586&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-98260-7_5
DO - 10.1007/978-3-030-98260-7_5
M3 - Conference contribution
AN - SCOPUS:85128737586
SN - 9783030982591
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 74
EP - 92
BT - Modelling and Simulation for Autonomous Systems - 8th International Conference, MESAS 2021, Revised Selected Papers
A2 - Mazal, Jan
A2 - Fagiolini, Adriano
A2 - Vasik, Petr
A2 - Turi, Michele
A2 - Bruzzone, Agostino
A2 - Pickl, Stefan
A2 - Neumann, Vlastimil
A2 - Stodola, Petr
PB - Springer
T2 - 8th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2021
Y2 - 13 October 2021 through 14 October 2021
ER -