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Automatization of a Robotic Electric Vehicle with Electronic Differential

Grant number: 18/04905-1
Support type:Regular Research Grants
Duration: July 01, 2018 - June 30, 2020
Field of knowledge:Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
Principal researcher:André Ricardo Fioravanti
Grantee:André Ricardo Fioravanti
Home Institution: Faculdade de Engenharia Mecânica (FEM). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil
Assoc. researchers: Celso Eduardo Vieira Oliveira ; Ely Carneiro de Paiva ; Niederauer Mastelari ; Rafael de Angelis Cordeiro ; Samuel Siqueira Bueno


A large amount of the scientific research in Mobile Robotics in the last years has focused in the development of autonomous urban vehicles, which supposes navigation in a structured environment like flat asphalt, allowing the knowledge of important variables and also simplifications with respect to the tire-ground force interactions. However, for the case of the control of all-terrain vehicles, like tractors, the knowledge of the adherence properties like slipping, skidding, trepidations and high slopes is very difficult and constitutes a great challenge for the scientific and technological research all over the world. One of these challenges is the approach of the distribution of torque/speed in the non-steerable wheels of a multitraction vehicle, known as electronic differential distribution, a topic that was addressed in Project VERDE - Robotic Electric Vehicle with Electronic Differential (FAPESP regular n. 2014 / 02672-9), from the same research group. This proposal presents itself as a continuation of the previous VERDE project where two mini-vehicles with electric motorization were built (with two independent rear motors), instruments with inertial navigation system INS / GPS, on-board computer and CAN bus, Laser, camera and sensors on wheels and motors.The objectives of this new proposal are threefold: (1) Technological improvement and validation of the sensory assembly of the all-terrain mini-vehicles of the original VERDE project, including the insertion of suspension deflection sensors; (2) Experimental development, implementation and validation of linear and nonlinear trajectory control techniques for application in terrains with extreme conditions of adhesion, slipping and skidding, making use of the electronic differential already available in the vehicle. The use / evolution of the torque / speed distribution strategies in the independent wheels of the multitraction vehicle (Cordeiro, 2017b), (Ribeiro, 2016), developed in the original VERDE project, and also in phase of improvement in the PhD thesis of Ribeiro (2016); (3) Experimental deployment, implementation and validation of sensory perception techniques such as SLAM (visual and laser) and autonomous convoy using computer vision.Thus, using the great potential of the scaled vehicles available from the original VERDE project, we believe that the Auto_VERDE project will allow the evolution and experimental validation of the control approaches developed and / or under development for applications in vehicles for extreme conditions terrains like those used in agricultural applications. (AU)

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Scientific publications (9)
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
RIBEIRO, A. M.; KOYAMA, M. F.; MOUTINHO, A.; DE PAIVA, E. C.; FIORAVANTI, A. R. comprehensive experimental validation of a scaled car-like vehicle: Lateral dynamics identification, stability analysis, and control applicatio. CONTROL ENGINEERING PRACTICE, v. 116, NOV 2021. Web of Science Citations: 0.
SOUZA, MATHEUS; FIORAVANTI, ANDRE R.; ARAUJO, VANESSA S. P. Impulsive Markov jump linear systems: Stability analysis and H-2 control. NONLINEAR ANALYSIS-HYBRID SYSTEMS, v. 42, NOV 2021. Web of Science Citations: 0.
FALCHETTO, VINICIUS B.; SOUZA, MATHEUS; FIORAVANTI, ANDRE R.; SHORTEN, ROBERT N. Script capital H-2 and Script capital H-infinity analysis and state feedback control design for discrete-time constrained switched linear systems. International Journal of Control, v. 94, n. 10, p. 2834-2845, OCT 3 2021. Web of Science Citations: 0.
RIBEIRO, A. M.; FIORAVANTI, A. R.; MOUTINHO, A.; DE PAIVA, E. C. Nonlinear state-feedback design for vehicle lateral control using sum-of-squares programming. VEHICLE SYSTEM DYNAMICS, NOV 2020. Web of Science Citations: 0.
VIEIRA, HENRIQUE S.; DE PAIVA, ELY C.; MORIGUCHI, SERGIO K.; CARVALHO, JOSE R. H. Unified Backstepping Sliding Mode Framework for Airship Control Design. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, v. 56, n. 4, p. 3246-3258, AUG 2020. Web of Science Citations: 0.
CARDELIQUIO, CAETANO B.; FIORAVANTI, ANDRE R.; BONNET, CATHERINE; NICULESCU, SILVIU-IULIAN. Stability and Stabilization Through Envelopes for Retarded and Neutral Time-Delay Systems. IEEE Transactions on Automatic Control, v. 65, n. 4, p. 1640-1646, APR 2020. Web of Science Citations: 0.
RIBEIRO, ALEXANDRE M.; MOUTINHO, ALEXANDRA; FIORAVANTI, ANDRE R.; DE PAIVA, ELY C. Estimation of tire-road friction for road vehicles: a time delay neural network approach. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 42, n. 1 JAN 2020. Web of Science Citations: 0.
FIORAVANTI, ANDRE R.; MARECEK, JAKUB; SHORTEN, ROBERT N.; SOUZA, MATHEUS; WIRTH, FABIAN R. On the ergodic control of ensembles. AUTOMATICA, v. 108, OCT 2019. Web of Science Citations: 0.
CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; AZINHEIRA, JOSE R.; FERREIRA, V, PAULO A.; DE PAIVA, ELY C.; BUENO, SAMUEL S. Estimation of Vertical , Lateral , and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 24, n. 2, p. 561-571, APR 2019. Web of Science Citations: 0.

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