Titlebook: Applied Guidance Methodologies for Off-road Vehicles; Javad Taghia,Jayantha Katupitiya Book 2020 Springer Nature Switzerland AG 2020 Path

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Modelling Vehicle Systems,r then goes on to derive the kinematic model of a tracked vehicle which is also subsequently extended to incorporate an active trailer coupled to the tracked vehicle at an off axle hitch point. Finally, the kinematic model of a four wheel driven and four wheel steered vehicle is presented. The rest

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Offset Models of Vehicles,the offset equations will also have the same control inputs such as steering and propulsion that may be chosen appropriately through control design to eliminate the offsets or to drive the offsets to zero. If the offsets are successfully maintained at or near zero then the vehicle is following the i

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Offset Models of Vehicles,o guide the vehicle along a predefined path as accurately as possible despite the presence of disturbances that cause it to drift off course. In other words, the task of the control inputs applied to the vehicle is to eliminate all the errors with respect to the prescribed reference path. Hence, it

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Design of Controllers,ble to steer and propel the vehicles along the predefined paths while minimizing the path tracking errors. Among the errors to be minimized are; lateral path offsets, heading offsets and in articulated vehicles coupled to active trailers, the longitudinal coupling forces.

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Implementation of Controllers,ghlight the points to be taken into consideration when implementing different controllers in different scenarios. Note that, all control methods presented in the last chapter will be applied to offset models described in Chap. .. The offsets we used are the lateral offsets and the heading offsets. A

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Conclusion,ntrol systems developed were aimed at delivering accurate path tracking by field vehicles. These type of controllers are generally termed as guidance controllers. One of the key goals of the content presented in this book was to aim at the practicality of the implementation of the designed controlle

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