Search

Your search keyword '"Ackermann steering"' showing total 46 results
Start Over Descriptor "Ackermann steering"
46 results on '"Ackermann steering"'

1. A New Dual Steering System in a Compact Tractor.

Author

Massarotti, Giorgio Paolo, Filippini, German, Alviach, Gustavo Raush, Gamez-Montero, Pedro Javier, and Macia, Esteban Codina

Subjects
FARM tractors, NUMERICAL analysis, AUTOMOBILE steering gear, TRACTORS, VINEYARDS
Abstract

To achieve optimal controllability in a dual steering tractor (a four-wheel, iso-diametric tractor equipped with a dual-hydraulic steering system), this study proposes a coordinated approach that combines experimental testing (using a special agricultural tractor) with numerical analysis of the entire vehicle, developed in Bond Graph-3D. For certain crops, a dual steering vehicle is used to meet the needs of professionals who require easy maneuverability in narrow spaces and/or reduced steering time. This study aims to explore the reasons behind the need for dual steering tractors, highlighting the advantages and disadvantages of these two different configurations and ultimately focusing on the combined benefits of both. Based on an extensive review of the literature and drawing from previous studies, this paper analyzes aspects such as the variation in noise levels (or comfort level) experienced at the steering wheel when switching from Ackermann steering to a dual steering system. After outlining the theoretical methodology used to describe the model, both experimental and numerical analyses of a vineyard tractor in operation are presented. The goal of this work is to provide guidance on design methods and, through the Bond Graph-3D model, suggest the best control algorithms to minimize steering noise and enhance driving comfort. This research aims to pave the way for future control strategies in electrohydraulic steering systems. [ABSTRACT FROM AUTHOR]

Published
2025
Full Text
View/download PDF

2. Optimizing the Steering of Driverless Personal Mobility Pods with a Novel Differential Harris Hawks Optimization Algorithm (DHHO) and Encoder Modeling.

Author

Reda, Mohamed, Onsy, Ahmed, Haikal, Amira Y., and Ghanbari, Ali

Subjects
*OPTIMIZATION algorithms, *METAHEURISTIC algorithms, *ANGLES, *SUPERVISED learning
Abstract

This paper aims to improve the steering performance of the Ackermann personal mobility scooter based on a new meta-heuristic optimization algorithm named Differential Harris Hawks Optimization (DHHO) and the modeling of the steering encoder. The steering response in the Ackermann mechanism is crucial for automated driving systems (ADS), especially in localization and path-planning phases. Various methods presented in the literature are used to control the steering, and meta-heuristic optimization algorithms have achieved prominent results. Harris Hawks optimization (HHO) algorithm is a recent algorithm that outperforms state-of-the-art algorithms in various optimization applications. However, it has yet to be applied to the steering control application. The research in this paper was conducted in three stages. First, practical experiments were performed on the steering encoder sensor that measures the steering angle of the Landlex mobility scooter, and supervised learning was applied to model the results obtained for the steering control. Second, the DHHO algorithm is proposed by introducing mutation between hawks in the exploration phase instead of the Hawks perch technique, improving population diversity and reducing premature convergence. The simulation results on CEC2021 benchmark functions showed that the DHHO algorithm outperforms the HHO, PSO, BAS, and CMAES algorithms. The mean error of the DHHO is improved with a confidence level of 99.8047% and 91.6016% in the 10-dimension and 20-dimension problems, respectively, compared with the original HHO. Third, DHHO is implemented for interactive real-time PID tuning to control the steering of the Ackermann scooter. The practical transient response results showed that the settling time is improved by 89.31% compared to the original response with no overshoot and steady-state error, proving the superior performance of the DHHO algorithm compared to the traditional control methods. [ABSTRACT FROM AUTHOR]

Published
2024
Full Text
View/download PDF

4. Influence of Track Width, Wheel Base on Turning Radius and Static Behavior of Stub Axle, C-Clamp in Go-Karts Steering System

Author

Srivastava, Jay Prakash, Suryateja, Kavvempally, Kumar, Pankaj, Gangadhar Reddy, Gankidi, Moizuddin, Mohammed, Kumar, Subodh, Jain, Amit Kumar, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Ivanov, Vitalii, Series Editor, Haddar, Mohamed, Series Editor, Cavas-Martínez, Francisco, Editorial Board Member, di Mare, Francesca, Editorial Board Member, Kwon, Young W., Editorial Board Member, Tolio, Tullio A. M., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Schmitt, Robert, Editorial Board Member, Xu, Jinyang, Editorial Board Member, Raghavendra, Gujjala, editor, Deepak, B. B. V. L., editor, and Gupta, Manoj, editor

Published
2024
Full Text
View/download PDF

5. A New Dual Steering System in a Compact Tractor

Author

Giorgio Paolo Massarotti, German Filippini, Gustavo Raush Alviach, Pedro Javier Gamez-Montero, and Esteban Codina Macia

Subjects
dual steering, compact tractor, hydraulic system, Ackermann steering, articulated steering, Bond Graph-3D, Materials of engineering and construction. Mechanics of materials, TA401-492, Production of electric energy or power. Powerplants. Central stations, TK1001-1841
Abstract

To achieve optimal controllability in a dual steering tractor (a four-wheel, iso-diametric tractor equipped with a dual-hydraulic steering system), this study proposes a coordinated approach that combines experimental testing (using a special agricultural tractor) with numerical analysis of the entire vehicle, developed in Bond Graph-3D. For certain crops, a dual steering vehicle is used to meet the needs of professionals who require easy maneuverability in narrow spaces and/or reduced steering time. This study aims to explore the reasons behind the need for dual steering tractors, highlighting the advantages and disadvantages of these two different configurations and ultimately focusing on the combined benefits of both. Based on an extensive review of the literature and drawing from previous studies, this paper analyzes aspects such as the variation in noise levels (or comfort level) experienced at the steering wheel when switching from Ackermann steering to a dual steering system. After outlining the theoretical methodology used to describe the model, both experimental and numerical analyses of a vineyard tractor in operation are presented. The goal of this work is to provide guidance on design methods and, through the Bond Graph-3D model, suggest the best control algorithms to minimize steering noise and enhance driving comfort. This research aims to pave the way for future control strategies in electrohydraulic steering systems.

Published
2025
Full Text
View/download PDF

6. The Development of Ackerman Steering System for 1/10th Scale Autonomous Mining Shuttle Design.

Author

Hegde, Seema B., Akash, B. U., Skanda, M. P., Makam, Vishwa, and Veerabhadraiah, H. M.

Subjects
*INTELLIGENT transportation systems, *TECHNOLOGICAL innovations, *REMOTE control, *GREEN technology, *THREE-dimensional printing, *ENERGY dissipation, *AUTONOMOUS vehicles
Abstract

The usage of Autonomous mining vehicles at mining sites leads to remarkable improvement in the mining industry with efficient truck hauling, safety, and driving assistance. The steering mechanism is one major component of mining shuttle anatomy design. A significant share of failure in safety measures of the mining shuttle is due to steering imbalance. Steering stability is one of the key components of any mining truck design specifically in the recent emerging technology of intelligent transportation systems such as autonomous truck haul. The earlier steering mechanisms for the heavy truck such as the Davis steering mechanism and other steering mechanisms available in both sliding and turning pairs will be present in the front wheel axle which has less stability of tires in a curved path. To overcome the problem, this paper proposes the design of an enhanced Ackermann steering system to meet the stability, control, and other steering capability of mining trucks by turning the front wheels at different angles. This paper also discusses the methodology to implement the designed principles using 1/10th scale of an original vehicle prototype built using STM 32 microcontroller by 3D printing, whose movement is controlled with Remote Control (RC). Hence the designed prototype model prototype with its innovative gear system provides mobility to the mining shuttle without loss in energy due to friction leading to fuel efficient, safe, stable intelligent transport system with green technology. [ABSTRACT FROM AUTHOR]

Published
2023
Full Text
View/download PDF

7. The Archimede Rover: A Comparison between Simulations and Experiments.

Author

Caruso, Matteo, Giberna, Marco, Görner, Martin, Gallina, Paolo, and Seriani, Stefano

Subjects
SOIL classification, KINEMATICS
Abstract

In this paper, we propose an in-depth evaluation of the performance of the Archimede rover while traversing rough terrain with loose soil. In order to better analyze this, the reality gap is evaluated when simulating the behavior with an open-source simulator. To this extent, we implement a full model of the rover in the open-source dynamics simulator Gazebo, along with several types of terrains that replicate the experimental conditions. The rover control system is equipped with a kinematics model that allows for driving in different modes. We implement an odometric system aboard the rover, as well as an external optical absolute tracking system as reference. We estimate the drift occurring during driving in different configurations, two types of soil with corresponding wheel geometries. The results show good adherence of the odometry when the rover drives on planar ground; conversely, as expected, a marked influence of slope is seen on wheel drift. The reality gap between simulations and experimental results is kept comparatively small provided that slopes are not present. [ABSTRACT FROM AUTHOR]

Published
2023
Full Text
View/download PDF

8. Modeling and Simulation of Four-Wheel Steering System for Shorter Wheelbase Vehicle.

Author

Shete, Rahul G., Dhanvijay, Maneetkumar R., and Patil, Sudhir Madhav

Subjects
FOUR-wheel drive vehicles, STEERING gear, STABILITY (Mechanics), RADIUS (Geometry)
Abstract

In-vehicle handling one of the most important systems is the steering system. Typically, all vehicles have a steering system that allows the vehicle to be turned to either side, that is, left or right. In this paper, an idea of implemented considering a steering system for the rear wheel in addition to the front wheel, resulting in a four-wheel steering system. The turning radius required for four-wheel steering is less than that necessary for front-wheel steering after evaluating the effect of the four-wheel steering system. Some cars use four-wheel steering to improve steering response, increase vehicle stability while driving at high speeds, or reduce turning radius while maneuvering at low speeds. However, the improvement in turning radius is discussed using Ackermann steering geometry (ASG), from which the wheel critical turning angles are calculated for minimum turning radius. The steering system is implemented using a rack and pinion mechanism, and the design of the pinion and rack are obtained from ASG. In the study, the vehicle behavior for 4-wheel steering is done using a physical prototype and MATLAB Simulink model. Also, the steering of the front and rear wheel is performed using a servo motor which is controlled by the microcontroller. The vehicle's turning radius is reduced by 33% due to the four-wheel steering system. Improvements have also been made in high-speed handling while changing lane with the four-wheel steering system, in which excessive lateral displacement has been reduced by 77% and reduce the time required to change the lane. Also, the study of these forces for the four-wheel steering system is discussed for low-speed maneuvering. [ABSTRACT FROM AUTHOR]

Published
2022

9. The Archimede Rover: A Comparison between Simulations and Experiments

Author

Matteo Caruso, Marco Giberna, Martin Görner, Paolo Gallina, and Stefano Seriani

Subjects
mobile robotics, Archimede rover, planetary rovers, Ackermann steering, ICR projection approach, odometry, Mechanical engineering and machinery, TJ1-1570
Abstract

In this paper, we propose an in-depth evaluation of the performance of the Archimede rover while traversing rough terrain with loose soil. In order to better analyze this, the reality gap is evaluated when simulating the behavior with an open-source simulator. To this extent, we implement a full model of the rover in the open-source dynamics simulator Gazebo, along with several types of terrains that replicate the experimental conditions. The rover control system is equipped with a kinematics model that allows for driving in different modes. We implement an odometric system aboard the rover, as well as an external optical absolute tracking system as reference. We estimate the drift occurring during driving in different configurations, two types of soil with corresponding wheel geometries. The results show good adherence of the odometry when the rover drives on planar ground; conversely, as expected, a marked influence of slope is seen on wheel drift. The reality gap between simulations and experimental results is kept comparatively small provided that slopes are not present.

Published
2023
Full Text
View/download PDF

11. The effect of Ackermann steering on the performance of race cars.

Author

Veneri, M. and Massaro, M.

Subjects
*RACING automobiles, *AUTOMOBILE steering gear, *AUTOMOBILES
Abstract

While several papers dealing with the kinematic of mechanisms that approximate the well-known Ackermann steering are available, apparently there are no contributions related to the effect of Ackermann steering on vehicle performance. This work focuses on the effect of Ackermann steering and parallel steering on the performance of a racing car, after a discussion on the different definitions of Ackermann steering ratio available in the literature. Three scenarios are considered: steady turning, slalom and a circuit lap. Nonlinear optimal control techniques are employed to assess the maximum performance. A Formula SAE car model is used and validated against experimental data in acceleration, steady turning and slalom. Then the same model is employed to investigate the effect of different steering layouts. [ABSTRACT FROM AUTHOR]

Published
2021
Full Text
View/download PDF

14. Virtual Validation of Autonomous Vehicles : Virtualizing an Electric Cabin Scooter

Author

Arvidsson, Christoffer, Andersson, Jakob, Arvidsson, Christoffer, and Andersson, Jakob

Abstract

This thesis report presents a study on the virtualization of an Electric Cabin Scooter used to validate the feasibility of converting it into an autonomous vehicle. The project aimed to design, develop, and test a virtual model of the car that can navigate from points A to B while avoiding obstacles. The report describes the methodology used in the project, which includes setting up the workspace, construction of the virtual model, implementation of ROS2 controllers, and integration of SLAM and Navigation2. The thesis report also describes and discusses related work, as well as the theoretical background of the project. Results show a successfully developed working virtual vehicle model, which provides a solid starting point for future work., Detta examensarbete presenterar en studie om virtualiseringen av en elektrisk kabinscooter. Den virtuella modellen används för att validera genomförbarheten av att omvandla den till ett autonomt fordon. Projektet syftade till att designa, utveckla och testa en virtuell modell av bilen som kan navigera från punkt A till B medan den undviker hinder. Rapporten beskriver metodiken som används i projektet, vilket inkluderar att sätta upp arbetsytan, konstruktion av den virtuella modellen, implementering av ROS2-kontroller och integration av SLAM och Navigation2. Rapporten diskuterar även relaterat arbete, samt teoretisk bakgrund till arbetet. Resultaten visar en framgångsrikt utvecklad fungerande virtuell fordonsmodell, som ger en solid utgångspunkt för framtida arbete.

Published
2023

15. Distributed active disturbance rejection control for Ackermann steering of a four-in-wheel motor drive vehicle with deception attacks on controller area networks.

Author

Gao, Zifan, Zhang, Dawei, Zhu, Shuqian, and Feng, Jun-e

Subjects
*MOTOR vehicles, *DECEPTION, *MOTOR vehicle driving, *DENIAL of service attacks, *STOCHASTIC systems, *LINEAR systems, *TIRE recycling
Abstract

This paper investigates the network-based modeling and distributed active disturbance rejection control (ADRC) to address the Ackermann steering problem of a four-in-wheel motor drive electric vehicle with deception attacks on controller area networks (CAN). The distributed ADRC can achieve the independent steering, ensure a small steering radius and improve the stability and robustness of the vehicle under unknown tyre longitudinal forces and network attacks. Using an independent driving strategy and Ackermann steering geometry, a state-space model for rotational velocity tracking of each wheel is established, where a virtual external disturbance that consists of the tyre longitudinal force and the expected rotational velocity is imposed on the model. Considering the effect of deception attacks on measurement outputs, sampled-data-driven extended state observers are designed to estimate the tracking error and the external disturbance. To capture the interactions among four wheels, a distributed controller based on ADRC is proposed and the resulting system is formulated as a stochastic linear system with input delay and composite disturbance, where the composite disturbance is composed of false signals, a discretized disturbance error and the derivative of the longitudinal forces. A lemma is obtained to prove the discretized disturbance error to be energy-limited. Some stochastic stability conditions with H ∞ performance are derived by constructing a new discontinuous augmented Lyapunov–Krasovskii functional, and a design algorithm of the observer gain and the controller gain is presented. The effectiveness of the results is exemplified by two examples. [ABSTRACT FROM AUTHOR]

Published
2020
Full Text
View/download PDF

16. THE MODELLING AND CONTROL OF THE DRIVE SYSTEM OF AN ACKERMANN ROBOT USING GA OPTIMIZATION.

Author

Adamu, E. I., Afolayan, M. O., Umaru, S., and Garba, D. K.

Subjects
PID controllers, AUTONOMOUS vehicles, GENETIC algorithms, MATHEMATICAL optimization, MATHEMATICAL models
Abstract

This paper provides the mathematical modelling and control optimization, of the drive system of an Ackermann four wheeled autonomous robot, with Genetic algorithm used for tuning the proportional, integral and derivative (PID) Controller parameters. The aim and main objective of this work is focused on the control of the driving speed input from the rear wheels of the robot and control. The robot drive in proportion to obstacle input ahead of the four wheeled chassis using genetic algorithms. A controlled platform that can be deployed for driverless vehicle in the nearest future and military unmanned vehicle is our major concern. The controlled system response stabilized in 0.675 seconds, after exciting the system with a step response. Variation for the system also shows, that the cost function was minimized or adjusted to obtain optimal PID parameters as Proportional (P) = 12.671, Integral (I) = - 0.399, Derivative (D) = 1477561, at a value of 9.6778*10-4. [ABSTRACT FROM AUTHOR]

Published
2018
Full Text
View/download PDF

17. Energy efficient path planning for autonomous ground vehicles with ackermann steering.

Author

Zhang, Haojie, Zhang, Yudong, Liu, Chuankai, and Zhang, Zuoyu

Subjects
*FLOOR plans, *PLANETARY exploration, *ENERGY industries, *AUTONOMOUS vehicles, *SEARCH algorithms, *BORDER patrols, *STEERING gear, *OCEANOGRAPHIC submersibles
Abstract

The autonomous ground vehicles have attracted a great deal of attention as viable solutions to a wide variety of military and civilian applications. However, the energy consumption plays a major role in the navigation of autonomous ground vehicles in challenging environments, especially if they are left to operate unattended under limited on-board power, such as planetary exploration, border patrol, etc. The autonomous ground vehicles are expected to perform more tasks more efficiently with limited power in these scenarios. Although plenty of research has developed an effective methodology for generating dynamically feasible and energy efficient trajectories for skid steering or differential steering vehicles, few studies on path planning for ackermann steering autonomous ground vehicles are available. In this study, an energy efficient path planning method with guarantee on completeness is proposed for autonomous ground vehicle with ackermann steering which is based on A ∗ search algorithm. Firstly, the energy cost model is established for the autonomous ground vehicle using its kinematic constraints. Then, given the start and goal states, the energy-aware motion primitives are generated offline using the energy cost model to calculate the cost of each primary trajectory. Lastly, the energy efficient path planner is proposed and the analysis for completeness properties is given. The effectiveness of the proposed energy efficient path planner is verified by simulation over 150 randomly generated maps and real vehicle tests. The results show that a small increase in the distance of a path over the distance optimal path can result in a reduction of energy cost by nearly 26.9% in simulation and 21.09% in real test scenario for autonomous ground vehicles with ackermann steering. • An energy cost model is given for autonomous ground vehicle with ackermann steering. • An energy efficient path planner is proposed. The completeness of it is guaranteed. • It shows that the energy cost of path given by energy efficient planner is reduced. [ABSTRACT FROM AUTHOR]

Published
2023
Full Text
View/download PDF

18. Control and Steering of a Small 3D Printed Rover and its Applications to Engineering Education

Author

Bleything, Talesa

Subjects
Mechanical engineering, ackermann steering, classical control, complementary filter, engineering education, robotics, rover
Abstract

This thesis presents both the control design used to stabilize a small rover on two wheels as a mobile inverted pendulum, as well as the steering design used to achieve a series of unique stable driving modes. Additionally, the rover is assessed as an educational platform for use in teaching various STEM topics at both the high school and undergraduate university levels. The vehicle, termed BeagleRover, uses four DC motors and four servo motors to independently steer each wheel and achieve a total of six different driving modes, four of which are inherently stable four-wheel drive modes while two are unstable two-wheel drives modes. Two of the four stable drive modes implement Ackermann steering geometry to reduce side slip when driving around a turn. Experimental results using measurements from an onboard gyroscope suggest that side slip is indeed reduced by this method. Stability in the two unstable drive modes is achieved through classical control methods including lead and lag control. Complementary filtering of gyroscope and accelerometer measurements is used to derive accurate body position data for use in feedback. In support of current STEM education trends, this thesis provides a detailed solution set to the steering, control and filtering problems for potential use in STEM course material.

Published
2016

19. Optimal kinematic design of a multi-link steering system for a bus independent suspension: An application of response surface methodology.

Author

Topaç, M. M., Deryal, U., Bahar, E., and Yavuz, G.

Subjects
*STEERING gear, *RESPONSE surfaces (Statistics), *PROBLEM solving, *MATHEMATICAL combinations, *OPTIMAL designs (Statistics)
Abstract

A response surface-based design application to obtain an optimum multi-link steering mechanism is presented. Design problem is essentially established on two main goals: minimum deviation of toe angle (βV) during the wheel travel and optimum steering error during the steering angle (βL) range of the wheel. In the first stage, a complete multibody model of the suspension system including the steering mechanism was composed by using MSC.Adams® software. In order to identify the most effective parameters among the tie rod co-ordinates on βV deviation, a Full Factorial Design (FFD) - based Design Sensitivity Analysis (DSA) was carried out via Adams/Insight™ multi-objective optimisation tool. Central Composite Design (CCD) was also implemented to find out the optimum position of the tie rod. In the final stage, optimum hardpoint positions of the steering mechanism were searched by a combination of sweep study (SS) and CCD to provide the minimum deviation of Ackermann error. The optimisation results show that it is possible to reduce the maximum steering error (MSE) of the system up to 89.6% in comparison with the parallel arm base mechanism by using the proposed methodology. [ABSTRACT FROM AUTHOR]

Published
2015
Full Text
View/download PDF

20. Optimization of four-bar steering mechanism through Artificial Immune System (AIS) Algorithm.

Author

Hamidi, Yousof Ebneddin, Javash, Morteza Saeidi, Ettefagh, Mir Mohammad, and Doust, Farshid Abbasi

Abstract

In this paper, synthesis of the steering mechanism is optimized using Artificial Immune System (AIS) Algorithm for best function generation. A four-bar mechanism is employed as the Ackermann steering mechanism. For the first time the optimization in this problem is implemented with two methods. In the first method the length are selected as optimization parameter whereas in the second method precision points distribution is considered as optimization parameter. For the first method two of links have the same length in order to have a symmetric mechanism. For the precision point distribution method, five precision points are considered which one of them is in the straight line condition and the others are symmetric. Artificial Immune System (AIS) Algorithm has been used as an appropriate optimization strategy. The obtained result shows that in second method, precision points distribution as optimization parameter, the AIS algorithm can generate more accurate function. But first method, length as optimization parameter, is more practical because of its ability to satisfy all dimensional constraints. [ABSTRACT FROM PUBLISHER]

Published
2012

21. Comparative Study of Steering Mechanisms for Large Wheelbase Vehicles.

Author

Pramanik, S., Ingle, R. B., and Latey, A. A.

Subjects
*COMPARATIVE studies, *AUTOMOBILE wheels, *AUTOMOBILE steering gear, *FORCE ratio, *TRAILING edges (Aerodynamics)
Abstract

This paper presents an optimum synthesis of Ackermann, rack and pinion and centre lever steering mechanisms using Hookes and Jeeves optimization. The objective function of the optimisation comprises of steering error. The length of the steering arm has been assumed as one-fifth of the wheel track for all cases. The steering error, transmission angle and mechanical advantages of these steering mechanisms have been compared. It has been found that the rack and pinion steering mechanism produces the least steering error. The transmission angle and mechanical advantage of the centre lever steering mechanism are most favourable. A suggestion has been made to replace the existing Ackermann steering mechanism for long wheelbase vehicles by a central outrigger type leading rack and pinion steering mechanism. [ABSTRACT FROM AUTHOR]

Published
2012
Full Text
View/download PDF

22. Design of vehicle using Ackermann steering with IoT concept

Author

Albert Paul Arunkumar, Palanisamy R., Selvakumar K., Usha S., Thamizh Thentral T. M., and Karthikeyan D.

Subjects
IoT, Control and Optimization, Sensors, Computer Networks and Communications, Hardware and Architecture, Ackermann steering, Arduino Uno, Signal Processing, Electrical and Electronic Engineering, Vehicle, Information Systems
Abstract

Electric vehicles are becoming more demanding these days. In this project the possibility of using Ackerman steering with electric drive servomotor is explained. Scalability is the advantage of using this mechanism which can be adopted for four-wheel vehicle system as well. The objective of this project is to do design a system using Ackerman steering which determines the maximum and minimum angle of the turning of the wheels. It also avoids the front tire slippage and activates pure rolling. Ackermann steering geometry is a geometric arrangement of linkages in the steering of a car or other vehicle designed to solve the problem of wheels on the inside and outside of a turn needing to trace out circles of different radii. The geometrical solution to this is for all wheels to have their axles arranged as radii of circles with a common centre point. As the rear wheels are fixed, this centre point must be on a line extended from the rear axle. Intersecting the axes of the front wheels on this line as well requires that the inside front wheel be turned, when steering, through a greater angle than the outside wheel. The microcontroller used in this project is ATMega16 andlmax232 is used for the serial data transmission.

Published
2021
Full Text
View/download PDF

23. Comparing the steering performances of skid- and Ackermann-steered vehicles.

Author

Maclaurin, B

Subjects
MOTOR vehicle steering gear, ARMORED military vehicles, ENERGY consumption, EQUATIONS of motion, DATA analysis, STEERING gear, TRACKLAYING vehicles, LATERAL loads, DRIVE shafts, MATHEMATICAL models, CLUTCHES (Machinery), HYDROSTATICS
Abstract

Skid steering has advantages for military armoured vehicles because it gives greater internal hull volume and improved manoeuvrability. The steering performance of an 18 t 6×6 skid-steered vehicle is analysed and compared with that of a similar Ackermann-steered vehicle. The basic properties of the double-differential mechanism used for steering most modern skid-steered vehicles are analysed. A tyre model is used that enables the force characteristics at combined slip to be established from the relatively small amount of pure slip data that are available for truck-sized tyres. A spreadsheet analysis is used for solving the equations of motion. This shows that the skid-steered vehicle is generally neutral to oversteer whereas the Ackermann-steered vehicle is understeer. The skid-steered vehicle is also shown to require more power when cornering because of the power required by the steering mechanism. This will increase the fuel consumption and reduce the range of the skid-steered vehicle. [ABSTRACT FROM AUTHOR]

Published
2008
Full Text
View/download PDF

24. Robotické vozidlo s využitím RC komponentů

Author

Zemčík, Pavel, Beran, Vítězslav, Deingruber, Ondřej, Zemčík, Pavel, Beran, Vítězslav, and Deingruber, Ondřej

Abstract

Tato práce se zabývá řízením modelářských RC serv a konstrukcemi robotických vozidel. Cílem je navrhnout model robotického vozidla s využitím RC komponentů, dalších off the shelf komponentů a 3D tisku a demonstrovat jeho vlastnosti. V práci byla navržena architektura robota využívající jednodeskový počítač společně s běžně dostupnými komponenty, 3D tisk a nevyžaduje složité sestavování. Pro návrh hřebenového řízení vozidla bylo využito optimalizačního algoritmu. Výsledkem práce je implementace robotického vozidla., This thesis covers the topic of controlling RC servos and constructions of robotic vehicles. The goal is to propose a model of robotic vehicle with RC components and other off the shelf components, 3D printing and demonstrate its capabilities. In the thesis, a mobile robot platform was proposed. It uses a single-board computer together with readily available parts and does not require complicated assembly. An optimization algorithm was used for the design of rack and pinion steering. The result of the thesis is the implementation of a robotic vehicle.

25. Přední náprava tříkolového vozidla pro volný čas

Author

Mazůrek, Ivan, Brandejs, Jan, Mlynár, Adam, Mazůrek, Ivan, Brandejs, Jan, and Mlynár, Adam

Abstract

Táto bakalárska práca sa zaoberá konštrukčným návrhom prednej odpruženej lichobežníkovej nápravy adaptovateľnej na konštrukciu trojkolesového vozidla. Prvá kapitola je venovaná prehľadu trojkolesových vozidiel, základným geometrickým parametrom náprav a predstavením upravovaného vozidla. Dalšia kapitola obsahuje návrh vhodnej geometrie a kinematiky nápravy a jej kontroly v programe Lotus Suspension Analysis. Záver práce je venovaný koncepčnému návrhu a konštrukčnému riešeniu v programe SolidWorks 2016. Navrhnutá je aj vhodná tuhosť odpruženia a nakoniec je skontrolovaná bezpečnosť ramien a tehlice pomocov metódy konečných prvkov., This bachelor's thesis deals with design of front double wishbone suspension adaptable to reverse trike vehicle. The first chapter is devoted to the overview of three-wheel vehicles, the basic geometrical parameters of the axles and the introduction of the modified vehicle. The next chapter contains a suggestion of suitable geometry and kinematics of the axle and is inspected in program Lotus Suspension Analysis. The conclusion is devoted to conceptual design and structural design in program SolidWorks 2016. A suitable stiffness of the suspension is also proposed, and the factor of safety of the arms and the steering knuckle is checked by finite element analysis.

26. Návrh a realizace odometrických snímačů pro mobilní robot s Ackermannovým řízením

Author

Hrbáček, Jan, Věchet, Stanislav, Porteš, Petr, Hrbáček, Jan, Věchet, Stanislav, and Porteš, Petr

Abstract

Cílem této diplomové práce je navrhnout a zkonstruovat odometrické snímače na mobilního robota s Ackermannovým řízením Bender 2 a navrhnout matematický model, který by z dat těchto snímačů vyhodnocoval ujetou trajektorii robota. V první části jsou shrnuty teoretické poznatky, v druhé, zaměřené na praktickou část, jsou popsány konstrukční úpravy přední nápravy, konstrukce a obslužný software předních enkodérů a použité odometrické modely. Poslední část se zabývá zpracováním a vyhodnocením naměřených dat., Aim of this thesis is to design and construct odometric sensors for a mobile robot with Ackermann steering Bender 2 and to design a mathematical model which would evaluate the the trajectory of the robot using measured data of these sensors. The first part summarizes theoretical knowledge, while the second, the practical part, describes the design of the front axle, the design and the operating software of the front encoders and the odometric models. The last part deals with the processing and evaluation of the measured data.

27. Robotické vozidlo s využitím RC komponentů

Author

Zemčík, Pavel, Beran, Vítězslav, Deingruber, Ondřej, Zemčík, Pavel, Beran, Vítězslav, and Deingruber, Ondřej

Abstract

Tato práce se zabývá řízením modelářských RC serv a konstrukcemi robotických vozidel. Cílem je navrhnout model robotického vozidla s využitím RC komponentů, dalších off the shelf komponentů a 3D tisku a demonstrovat jeho vlastnosti. V práci byla navržena architektura robota využívající jednodeskový počítač společně s běžně dostupnými komponenty, 3D tisk a nevyžaduje složité sestavování. Pro návrh hřebenového řízení vozidla bylo využito optimalizačního algoritmu. Výsledkem práce je implementace robotického vozidla., This thesis covers the topic of controlling RC servos and constructions of robotic vehicles. The goal is to propose a model of robotic vehicle with RC components and other off the shelf components, 3D printing and demonstrate its capabilities. In the thesis, a mobile robot platform was proposed. It uses a single-board computer together with readily available parts and does not require complicated assembly. An optimization algorithm was used for the design of rack and pinion steering. The result of the thesis is the implementation of a robotic vehicle.

28. Ovládání robota s Ackermannovým podvozkem

Author

Rozman, Jaroslav, Žák, Marek, Fryč, Martin, Rozman, Jaroslav, Žák, Marek, and Fryč, Martin

Abstract

Tato práce popisuje vytvoření robota v Robotickém operačním systému (ROS) s Ackermannovýmpodvozkem. Obsahuje princip Ackermannové geometrie řízení, rešerši řídícíchdesek a popis základní struktury ROS. Jako základ robota je použit RC model auta, kekterému je připojen kontrolér PixHawk. Na robotu je umístěn počítač Raspberry Pi 3, nakterém běží ROS. Pomocí Wi-Fi sítě je k němu připojen notebook. Je popsáno zprovozněnírobota a ROS. V práci je popsán princip reflexního optického enkodéru, výroba enkodérůsnímající otáčky kol a to je dále využito pro implementaci odometrie. Dále obsahuje částs návrhem a implementací grafického rozhraní, které čte data z robota a kamery. Je zderozebráno z čeho se skládá navigační knihovna v ROS a co je třeba k jejímu zprovoznění.Je vytvořen ovladač robota do ROS a na závěr je správná funkce ovladače otestována., In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.

29. Přední náprava tříkolového vozidla pro volný čas

Author

Mazůrek, Ivan, Brandejs, Jan, Mlynár, Adam, Mazůrek, Ivan, Brandejs, Jan, and Mlynár, Adam

Abstract

Táto bakalárska práca sa zaoberá konštrukčným návrhom prednej odpruženej lichobežníkovej nápravy adaptovateľnej na konštrukciu trojkolesového vozidla. Prvá kapitola je venovaná prehľadu trojkolesových vozidiel, základným geometrickým parametrom náprav a predstavením upravovaného vozidla. Dalšia kapitola obsahuje návrh vhodnej geometrie a kinematiky nápravy a jej kontroly v programe Lotus Suspension Analysis. Záver práce je venovaný koncepčnému návrhu a konštrukčnému riešeniu v programe SolidWorks 2016. Navrhnutá je aj vhodná tuhosť odpruženia a nakoniec je skontrolovaná bezpečnosť ramien a tehlice pomocov metódy konečných prvkov., This bachelor's thesis deals with design of front double wishbone suspension adaptable to reverse trike vehicle. The first chapter is devoted to the overview of three-wheel vehicles, the basic geometrical parameters of the axles and the introduction of the modified vehicle. The next chapter contains a suggestion of suitable geometry and kinematics of the axle and is inspected in program Lotus Suspension Analysis. The conclusion is devoted to conceptual design and structural design in program SolidWorks 2016. A suitable stiffness of the suspension is also proposed, and the factor of safety of the arms and the steering knuckle is checked by finite element analysis.

30. Robotické vozidlo s využitím RC komponentů

Author

Zemčík, Pavel, Beran, Vítězslav, Zemčík, Pavel, and Beran, Vítězslav

Abstract

Tato práce se zabývá řízením modelářských RC serv a konstrukcemi robotických vozidel. Cílem je navrhnout model robotického vozidla s využitím RC komponentů, dalších off the shelf komponentů a 3D tisku a demonstrovat jeho vlastnosti. V práci byla navržena architektura robota využívající jednodeskový počítač společně s běžně dostupnými komponenty, 3D tisk a nevyžaduje složité sestavování. Pro návrh hřebenového řízení vozidla bylo využito optimalizačního algoritmu. Výsledkem práce je implementace robotického vozidla., This thesis covers the topic of controlling RC servos and constructions of robotic vehicles. The goal is to propose a model of robotic vehicle with RC components and other off the shelf components, 3D printing and demonstrate its capabilities. In the thesis, a mobile robot platform was proposed. It uses a single-board computer together with readily available parts and does not require complicated assembly. An optimization algorithm was used for the design of rack and pinion steering. The result of the thesis is the implementation of a robotic vehicle.

31. Ovládání robota s Ackermannovým podvozkem

Author

Rozman, Jaroslav, Žák, Marek, Rozman, Jaroslav, and Žák, Marek

Abstract

Tato práce popisuje vytvoření robota v Robotickém operačním systému (ROS) s Ackermannovýmpodvozkem. Obsahuje princip Ackermannové geometrie řízení, rešerši řídícíchdesek a popis základní struktury ROS. Jako základ robota je použit RC model auta, kekterému je připojen kontrolér PixHawk. Na robotu je umístěn počítač Raspberry Pi 3, nakterém běží ROS. Pomocí Wi-Fi sítě je k němu připojen notebook. Je popsáno zprovozněnírobota a ROS. V práci je popsán princip reflexního optického enkodéru, výroba enkodérůsnímající otáčky kol a to je dále využito pro implementaci odometrie. Dále obsahuje částs návrhem a implementací grafického rozhraní, které čte data z robota a kamery. Je zderozebráno z čeho se skládá navigační knihovna v ROS a co je třeba k jejímu zprovoznění.Je vytvořen ovladač robota do ROS a na závěr je správná funkce ovladače otestována., In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.

32. Ovládání robota s Ackermannovým podvozkem

Author

Rozman, Jaroslav, Žák, Marek, Rozman, Jaroslav, and Žák, Marek

Abstract

Tato práce popisuje vytvoření robota v Robotickém operačním systému (ROS) s Ackermannovýmpodvozkem. Obsahuje princip Ackermannové geometrie řízení, rešerši řídícíchdesek a popis základní struktury ROS. Jako základ robota je použit RC model auta, kekterému je připojen kontrolér PixHawk. Na robotu je umístěn počítač Raspberry Pi 3, nakterém běží ROS. Pomocí Wi-Fi sítě je k němu připojen notebook. Je popsáno zprovozněnírobota a ROS. V práci je popsán princip reflexního optického enkodéru, výroba enkodérůsnímající otáčky kol a to je dále využito pro implementaci odometrie. Dále obsahuje částs návrhem a implementací grafického rozhraní, které čte data z robota a kamery. Je zderozebráno z čeho se skládá navigační knihovna v ROS a co je třeba k jejímu zprovoznění.Je vytvořen ovladač robota do ROS a na závěr je správná funkce ovladače otestována., In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.

33. Přední náprava tříkolového vozidla pro volný čas

Author

Mazůrek, Ivan, Brandejs, Jan, Mazůrek, Ivan, and Brandejs, Jan

Abstract

Táto bakalárska práca sa zaoberá konštrukčným návrhom prednej odpruženej lichobežníkovej nápravy adaptovateľnej na konštrukciu trojkolesového vozidla. Prvá kapitola je venovaná prehľadu trojkolesových vozidiel, základným geometrickým parametrom náprav a predstavením upravovaného vozidla. Dalšia kapitola obsahuje návrh vhodnej geometrie a kinematiky nápravy a jej kontroly v programe Lotus Suspension Analysis. Záver práce je venovaný koncepčnému návrhu a konštrukčnému riešeniu v programe SolidWorks 2016. Navrhnutá je aj vhodná tuhosť odpruženia a nakoniec je skontrolovaná bezpečnosť ramien a tehlice pomocov metódy konečných prvkov., This bachelor's thesis deals with design of front double wishbone suspension adaptable to reverse trike vehicle. The first chapter is devoted to the overview of three-wheel vehicles, the basic geometrical parameters of the axles and the introduction of the modified vehicle. The next chapter contains a suggestion of suitable geometry and kinematics of the axle and is inspected in program Lotus Suspension Analysis. The conclusion is devoted to conceptual design and structural design in program SolidWorks 2016. A suitable stiffness of the suspension is also proposed, and the factor of safety of the arms and the steering knuckle is checked by finite element analysis.

34. Návrh a realizace odometrických snímačů pro mobilní robot s Ackermannovým řízením

Author

Hrbáček, Jan, Věchet, Stanislav, Hrbáček, Jan, and Věchet, Stanislav

Abstract

Cílem této diplomové práce je navrhnout a zkonstruovat odometrické snímače na mobilního robota s Ackermannovým řízením Bender 2 a navrhnout matematický model, který by z dat těchto snímačů vyhodnocoval ujetou trajektorii robota. V první části jsou shrnuty teoretické poznatky, v druhé, zaměřené na praktickou část, jsou popsány konstrukční úpravy přední nápravy, konstrukce a obslužný software předních enkodérů a použité odometrické modely. Poslední část se zabývá zpracováním a vyhodnocením naměřených dat., Aim of this thesis is to design and construct odometric sensors for a mobile robot with Ackermann steering Bender 2 and to design a mathematical model which would evaluate the the trajectory of the robot using measured data of these sensors. The first part summarizes theoretical knowledge, while the second, the practical part, describes the design of the front axle, the design and the operating software of the front encoders and the odometric models. The last part deals with the processing and evaluation of the measured data.

35. Přední náprava tříkolového vozidla pro volný čas

Author

Mazůrek, Ivan, Brandejs, Jan, Mazůrek, Ivan, and Brandejs, Jan

Abstract

Táto bakalárska práca sa zaoberá konštrukčným návrhom prednej odpruženej lichobežníkovej nápravy adaptovateľnej na konštrukciu trojkolesového vozidla. Prvá kapitola je venovaná prehľadu trojkolesových vozidiel, základným geometrickým parametrom náprav a predstavením upravovaného vozidla. Dalšia kapitola obsahuje návrh vhodnej geometrie a kinematiky nápravy a jej kontroly v programe Lotus Suspension Analysis. Záver práce je venovaný koncepčnému návrhu a konštrukčnému riešeniu v programe SolidWorks 2016. Navrhnutá je aj vhodná tuhosť odpruženia a nakoniec je skontrolovaná bezpečnosť ramien a tehlice pomocov metódy konečných prvkov., This bachelor's thesis deals with design of front double wishbone suspension adaptable to reverse trike vehicle. The first chapter is devoted to the overview of three-wheel vehicles, the basic geometrical parameters of the axles and the introduction of the modified vehicle. The next chapter contains a suggestion of suitable geometry and kinematics of the axle and is inspected in program Lotus Suspension Analysis. The conclusion is devoted to conceptual design and structural design in program SolidWorks 2016. A suitable stiffness of the suspension is also proposed, and the factor of safety of the arms and the steering knuckle is checked by finite element analysis.

36. Robotické vozidlo s využitím RC komponentů

Author

Zemčík, Pavel, Beran, Vítězslav, Zemčík, Pavel, and Beran, Vítězslav

Abstract

Tato práce se zabývá řízením modelářských RC serv a konstrukcemi robotických vozidel. Cílem je navrhnout model robotického vozidla s využitím RC komponentů, dalších off the shelf komponentů a 3D tisku a demonstrovat jeho vlastnosti. V práci byla navržena architektura robota využívající jednodeskový počítač společně s běžně dostupnými komponenty, 3D tisk a nevyžaduje složité sestavování. Pro návrh hřebenového řízení vozidla bylo využito optimalizačního algoritmu. Výsledkem práce je implementace robotického vozidla., This thesis covers the topic of controlling RC servos and constructions of robotic vehicles. The goal is to propose a model of robotic vehicle with RC components and other off the shelf components, 3D printing and demonstrate its capabilities. In the thesis, a mobile robot platform was proposed. It uses a single-board computer together with readily available parts and does not require complicated assembly. An optimization algorithm was used for the design of rack and pinion steering. The result of the thesis is the implementation of a robotic vehicle.

37. Robotické vozidlo s využitím RC komponentů

Author

Zemčík, Pavel, Beran, Vítězslav, Zemčík, Pavel, and Beran, Vítězslav

Abstract

Tato práce se zabývá řízením modelářských RC serv a konstrukcemi robotických vozidel. Cílem je navrhnout model robotického vozidla s využitím RC komponentů, dalších off the shelf komponentů a 3D tisku a demonstrovat jeho vlastnosti. V práci byla navržena architektura robota využívající jednodeskový počítač společně s běžně dostupnými komponenty, 3D tisk a nevyžaduje složité sestavování. Pro návrh hřebenového řízení vozidla bylo využito optimalizačního algoritmu. Výsledkem práce je implementace robotického vozidla., This thesis covers the topic of controlling RC servos and constructions of robotic vehicles. The goal is to propose a model of robotic vehicle with RC components and other off the shelf components, 3D printing and demonstrate its capabilities. In the thesis, a mobile robot platform was proposed. It uses a single-board computer together with readily available parts and does not require complicated assembly. An optimization algorithm was used for the design of rack and pinion steering. The result of the thesis is the implementation of a robotic vehicle.

38. Ovládání robota s Ackermannovým podvozkem

Author

Rozman, Jaroslav, Žák, Marek, Rozman, Jaroslav, and Žák, Marek

Abstract

Tato práce popisuje vytvoření robota v Robotickém operačním systému (ROS) s Ackermannovýmpodvozkem. Obsahuje princip Ackermannové geometrie řízení, rešerši řídícíchdesek a popis základní struktury ROS. Jako základ robota je použit RC model auta, kekterému je připojen kontrolér PixHawk. Na robotu je umístěn počítač Raspberry Pi 3, nakterém běží ROS. Pomocí Wi-Fi sítě je k němu připojen notebook. Je popsáno zprovozněnírobota a ROS. V práci je popsán princip reflexního optického enkodéru, výroba enkodérůsnímající otáčky kol a to je dále využito pro implementaci odometrie. Dále obsahuje částs návrhem a implementací grafického rozhraní, které čte data z robota a kamery. Je zderozebráno z čeho se skládá navigační knihovna v ROS a co je třeba k jejímu zprovoznění.Je vytvořen ovladač robota do ROS a na závěr je správná funkce ovladače otestována., In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.

39. Přední náprava tříkolového vozidla pro volný čas

Author

Mazůrek, Ivan, Brandejs, Jan, Mazůrek, Ivan, and Brandejs, Jan

Abstract

Táto bakalárska práca sa zaoberá konštrukčným návrhom prednej odpruženej lichobežníkovej nápravy adaptovateľnej na konštrukciu trojkolesového vozidla. Prvá kapitola je venovaná prehľadu trojkolesových vozidiel, základným geometrickým parametrom náprav a predstavením upravovaného vozidla. Dalšia kapitola obsahuje návrh vhodnej geometrie a kinematiky nápravy a jej kontroly v programe Lotus Suspension Analysis. Záver práce je venovaný koncepčnému návrhu a konštrukčnému riešeniu v programe SolidWorks 2016. Navrhnutá je aj vhodná tuhosť odpruženia a nakoniec je skontrolovaná bezpečnosť ramien a tehlice pomocov metódy konečných prvkov., This bachelor's thesis deals with design of front double wishbone suspension adaptable to reverse trike vehicle. The first chapter is devoted to the overview of three-wheel vehicles, the basic geometrical parameters of the axles and the introduction of the modified vehicle. The next chapter contains a suggestion of suitable geometry and kinematics of the axle and is inspected in program Lotus Suspension Analysis. The conclusion is devoted to conceptual design and structural design in program SolidWorks 2016. A suitable stiffness of the suspension is also proposed, and the factor of safety of the arms and the steering knuckle is checked by finite element analysis.

40. Návrh a realizace odometrických snímačů pro mobilní robot s Ackermannovým řízením

Author

Hrbáček, Jan, Věchet, Stanislav, Hrbáček, Jan, and Věchet, Stanislav

Abstract

Cílem této diplomové práce je navrhnout a zkonstruovat odometrické snímače na mobilního robota s Ackermannovým řízením Bender 2 a navrhnout matematický model, který by z dat těchto snímačů vyhodnocoval ujetou trajektorii robota. V první části jsou shrnuty teoretické poznatky, v druhé, zaměřené na praktickou část, jsou popsány konstrukční úpravy přední nápravy, konstrukce a obslužný software předních enkodérů a použité odometrické modely. Poslední část se zabývá zpracováním a vyhodnocením naměřených dat., Aim of this thesis is to design and construct odometric sensors for a mobile robot with Ackermann steering Bender 2 and to design a mathematical model which would evaluate the the trajectory of the robot using measured data of these sensors. The first part summarizes theoretical knowledge, while the second, the practical part, describes the design of the front axle, the design and the operating software of the front encoders and the odometric models. The last part deals with the processing and evaluation of the measured data.

41. Návrh a realizace odometrických snímačů pro mobilní robot s Ackermannovým řízením

Author

Hrbáček, Jan, Věchet, Stanislav, Hrbáček, Jan, and Věchet, Stanislav

Abstract

Cílem této diplomové práce je navrhnout a zkonstruovat odometrické snímače na mobilního robota s Ackermannovým řízením Bender 2 a navrhnout matematický model, který by z dat těchto snímačů vyhodnocoval ujetou trajektorii robota. V první části jsou shrnuty teoretické poznatky, v druhé, zaměřené na praktickou část, jsou popsány konstrukční úpravy přední nápravy, konstrukce a obslužný software předních enkodérů a použité odometrické modely. Poslední část se zabývá zpracováním a vyhodnocením naměřených dat., Aim of this thesis is to design and construct odometric sensors for a mobile robot with Ackermann steering Bender 2 and to design a mathematical model which would evaluate the the trajectory of the robot using measured data of these sensors. The first part summarizes theoretical knowledge, while the second, the practical part, describes the design of the front axle, the design and the operating software of the front encoders and the odometric models. The last part deals with the processing and evaluation of the measured data.

42. Robotické vozidlo s využitím RC komponentů

Author

Zemčík, Pavel, Beran, Vítězslav, Deingruber, Ondřej, Zemčík, Pavel, Beran, Vítězslav, and Deingruber, Ondřej

Abstract

Tato práce se zabývá řízením modelářských RC serv a konstrukcemi robotických vozidel. Cílem je navrhnout model robotického vozidla s využitím RC komponentů, dalších off the shelf komponentů a 3D tisku a demonstrovat jeho vlastnosti. V práci byla navržena architektura robota využívající jednodeskový počítač společně s běžně dostupnými komponenty, 3D tisk a nevyžaduje složité sestavování. Pro návrh hřebenového řízení vozidla bylo využito optimalizačního algoritmu. Výsledkem práce je implementace robotického vozidla., This thesis covers the topic of controlling RC servos and constructions of robotic vehicles. The goal is to propose a model of robotic vehicle with RC components and other off the shelf components, 3D printing and demonstrate its capabilities. In the thesis, a mobile robot platform was proposed. It uses a single-board computer together with readily available parts and does not require complicated assembly. An optimization algorithm was used for the design of rack and pinion steering. The result of the thesis is the implementation of a robotic vehicle.

43. Ovládání robota s Ackermannovým podvozkem

Author

Rozman, Jaroslav, Žák, Marek, Fryč, Martin, Rozman, Jaroslav, Žák, Marek, and Fryč, Martin

Abstract

Tato práce popisuje vytvoření robota v Robotickém operačním systému (ROS) s Ackermannovýmpodvozkem. Obsahuje princip Ackermannové geometrie řízení, rešerši řídícíchdesek a popis základní struktury ROS. Jako základ robota je použit RC model auta, kekterému je připojen kontrolér PixHawk. Na robotu je umístěn počítač Raspberry Pi 3, nakterém běží ROS. Pomocí Wi-Fi sítě je k němu připojen notebook. Je popsáno zprovozněnírobota a ROS. V práci je popsán princip reflexního optického enkodéru, výroba enkodérůsnímající otáčky kol a to je dále využito pro implementaci odometrie. Dále obsahuje částs návrhem a implementací grafického rozhraní, které čte data z robota a kamery. Je zderozebráno z čeho se skládá navigační knihovna v ROS a co je třeba k jejímu zprovoznění.Je vytvořen ovladač robota do ROS a na závěr je správná funkce ovladače otestována., In this paper is described creation of a robot in Robot Operating system (ROS) withAckermann steering. It contains the principle of Ackermann steering geometry, search ofcontroller boards and basics of ROS structure. A RC car with connected PixHawk controlleris used as a basis of the robot. On the robot is placed an onboard computer Raspberry Pi3 with running ROS. This computer is connected to a laptop through Wi-Fi network. Theprocedure of starting up the robot and ROS is also described in this paper, as well asdesign of the graphical user interface (GUI) that will display sensory data and allow otherfunctionality. Another part of thesis explains principle of an optical encoder and how tocreate your own encoder which can detect rotation of a wheel. This is used to implementrobot odometry. The structure of ROS navigation library is analyzed with regards to itscommissioning. Implementation of the GUI and navigation library will follow in the masterthesis.

44. Přední náprava tříkolového vozidla pro volný čas

Author

Mazůrek, Ivan, Brandejs, Jan, Mlynár, Adam, Mazůrek, Ivan, Brandejs, Jan, and Mlynár, Adam

Abstract

Táto bakalárska práca sa zaoberá konštrukčným návrhom prednej odpruženej lichobežníkovej nápravy adaptovateľnej na konštrukciu trojkolesového vozidla. Prvá kapitola je venovaná prehľadu trojkolesových vozidiel, základným geometrickým parametrom náprav a predstavením upravovaného vozidla. Dalšia kapitola obsahuje návrh vhodnej geometrie a kinematiky nápravy a jej kontroly v programe Lotus Suspension Analysis. Záver práce je venovaný koncepčnému návrhu a konštrukčnému riešeniu v programe SolidWorks 2016. Navrhnutá je aj vhodná tuhosť odpruženia a nakoniec je skontrolovaná bezpečnosť ramien a tehlice pomocov metódy konečných prvkov., This bachelor's thesis deals with design of front double wishbone suspension adaptable to reverse trike vehicle. The first chapter is devoted to the overview of three-wheel vehicles, the basic geometrical parameters of the axles and the introduction of the modified vehicle. The next chapter contains a suggestion of suitable geometry and kinematics of the axle and is inspected in program Lotus Suspension Analysis. The conclusion is devoted to conceptual design and structural design in program SolidWorks 2016. A suitable stiffness of the suspension is also proposed, and the factor of safety of the arms and the steering knuckle is checked by finite element analysis.

45. Návrh a realizace odometrických snímačů pro mobilní robot s Ackermannovým řízením

Author

Hrbáček, Jan, Věchet, Stanislav, Porteš, Petr, Hrbáček, Jan, Věchet, Stanislav, and Porteš, Petr

Abstract

Cílem této diplomové práce je navrhnout a zkonstruovat odometrické snímače na mobilního robota s Ackermannovým řízením Bender 2 a navrhnout matematický model, který by z dat těchto snímačů vyhodnocoval ujetou trajektorii robota. V první části jsou shrnuty teoretické poznatky, v druhé, zaměřené na praktickou část, jsou popsány konstrukční úpravy přední nápravy, konstrukce a obslužný software předních enkodérů a použité odometrické modely. Poslední část se zabývá zpracováním a vyhodnocením naměřených dat., Aim of this thesis is to design and construct odometric sensors for a mobile robot with Ackermann steering Bender 2 and to design a mathematical model which would evaluate the the trajectory of the robot using measured data of these sensors. The first part summarizes theoretical knowledge, while the second, the practical part, describes the design of the front axle, the design and the operating software of the front encoders and the odometric models. The last part deals with the processing and evaluation of the measured data.

Catalog

Books, media, physical & digital resources
See catalog results