High-Frequency Vibration Reduction for Unmanned Ground Vehicles on Unstructured Terrain

Hamza El-Kebir, Taha Shafa, Amartya Purushottam, Melkior Ornik, Ahmet Soylemezoglu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationModelling and Simulation for Autonomous Systems - 8th International Conference, MESAS 2021, Revised Selected Papers
EditorsJan Mazal, Adriano Fagiolini, Petr Vasik, Michele Turi, Agostino Bruzzone, Stefan Pickl, Vlastimil Neumann, Petr Stodola
PublisherSpringer
Pages74-92
Number of pages19
ISBN (Print)9783030982591
DOIs
StatePublished - 2022
Externally publishedYes
Event8th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2021 - Virtual, Online
Duration: Oct 13 2021Oct 14 2021

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13207 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2021
CityVirtual, Online
Period10/13/2110/14/21

Keywords

  • Adaptive trajectory planning
  • Navigation on unstructured terrain
  • Vibration mitigation

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science

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