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Kinematic-dynamic modeling and test control of tracked drive vehicle for indoor mapping

Hasnan, Khalid and Saesar, Luhur Budi (2012) Kinematic-dynamic modeling and test control of tracked drive vehicle for indoor mapping. Applied Mechanics and Materials , 148. pp. 1510-1513. ISSN 1660-9336


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This paper presents one approach in designing and testing an unmanned ground vehicle (UGV) for indoor mapping. The approach makes use of computer real-time simulation and animation direct with the testing in real environment. Novel control architechture proposed by exploit the communication between 2 laptop installed Matlab/Simulink and telemetry data collected from it. The parameter values between real performance and model can be easily evaluated and also from its ladar scanning result, then researcher can explore more variation of modeling aspect, parameter and sensor-actuator configuration to enhance performance of their indoor unmanned vehicle.

Item Type: Article
Uncontrolled Keywords: kinematics; dynamics; modeling; simulink unmanned vehicle; UGV; mapping
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ170-179 Mechanics applied to machinery. Dynamics
Divisions: Faculty of Mechanical and Manufacturing Engineering > Department of Manufacturing and Industrial Engineering
Depositing User: Normajihan Abd. Rahman
Date Deposited: 19 Aug 2013 08:34
Last Modified: 22 Jan 2015 00:15
URI: http://eprints.uthm.edu.my/id/eprint/3887
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