Tests of Monitoring of Motion Variables of Unmanned Vehicle Convoy
Andrey Mikhailovich Saykin1, Denis Vladimirovich Endachev2, Sergey Evgenievich Buznikov3, Vladislav Olegovich Strukov4, Dmitrii Sergeevich Elkin5, Igor Dmitrievich Loginov6
1Andrey Mikhailovich Saykin*, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
2Denis Vladimirovich Endachev, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
3Sergey Evgenievich Buznikov, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
4Vladislav Olegovich Strukov, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
5Dmitrii Sergeevich Elkin, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
6Igor Dmitrievich Loginov, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
Manuscript received on November 15, 2019. | Revised Manuscript received on November 28, 2019. | Manuscript published on 30 November, 2019. | PP: 8885-8889 | Volume-8 Issue-4, November 2019. | Retrieval Number: D9526118419/2019©BEIESP | DOI: 10.35940/ijrte.D9526.118419
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This work analyzes test results of motion control system of unmanned cargo vehicles convoy with manned master vehicle developed by NAMI Institute. Development of intelligent transportation systems is determined by necessity to improve efficiency and safety of cargo and passenger traffic in hard-to-reach areas of northern Russia, Arctic and Antarctic regions. Scientific substantiation of engineering solutions accounting for specific operation conditions and peculiarities of controls is of outstanding importance. The problem of motion control of unmanned vehicle convoy is formulated in terms of dynamic stability of state coordinates, its solution prevents collision with obstacles and stability control of master vehicle. State coordinates of vehicles were determined by virtual data sensors based on indirect measurements using mathematical models and solution algorithms of ill-posed problems. Measurements of longitudinal speed of mass center, longitudinal and transversal accelerations, pressure drop in tires, turning angle of driven wheels, motion path plotting and recognition of road markings have been analyzed. Efficiency of the developed system of motion control of unmanned vehicle convoy in Russia has been confirmed experimentally.
Keywords: Motion Control System, Unmanned Vehicle Convoy, Problem of Dynamic Stabilization, Virtual Data Sensors.
Scope of the Article: Signal Control System & Processing.