Putri Nur Farhanah, Mohd Shamsuddin and Roshahliza, M. Ramli and Muhamad Arifpin, Mansor (2021) Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review. Bulletin of Electrical Engineering and Informatics, 10 (4). pp. 1893-1904. ISSN 2089-3191 (Print); 2302-9285 (Online). (Published)
|
Pdf
Navigation and motion control techniques for surface unmanned.pdf Available under License Creative Commons Attribution Non-commercial Share Alike. Download (454kB) | Preview |
Abstract
An excellent navigation, guidance, and control (NGC) system had a high impact on trajectory tracking and the following scenarios. Both scenarios will include the heading, tangent, and velocity parameters in the computation. However, the control system design problem is not a new issue in the unmanned surface vehicle (USV) and autonomous ground vehicle (AGV) due to this constraint faced by many researchers since early these autonomy developments. Hence, this paper listed and emphasizing the techniques, including techniques implementation, strength, and the algorithm's constraints, a fusion of several techniques implemented for vehicle's stability, a turning ahead, and heading estimation. This paper concerns the similar algorithm used in the USV and AGV. Most of the selected techniques are basic algorithms and have been frequently implemented to control both vehicles' systems. Previous research shows pure pursuit guidance is the most popular technique in AGV to control the degree-of-freedom (DOF) velocity and the dynamic rate (sway, surge, and yaw). Simultaneously, the line of sight (LOS) controller is very compatible with controlling the movement of the USV. In conclusion, the technique's simulation test needs further research that will expose in the actual situation.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Autonomous ground vehicle, Motion control technique, Path following, Trajectory tracking, Unmanned surface vehicle |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Faculty/Division: | Institute of Postgraduate Studies Faculty of Manufacturing and Mechatronic Engineering Technology |
| Depositing User: | Noorul Farina Arifin |
| Date Deposited: | 09 Sep 2021 04:27 |
| Last Modified: | 09 Sep 2021 04:27 |
| URI: | http://umpir.ump.edu.my/id/eprint/31999 |
| Download Statistic: | View Download Statistics |
Actions (login required)
 |
View Item |