Modelling and Control of an Outdoor Robotic Vehicle

• Grant number: 10/14295-4
• Support Opportunities: Scholarships in Brazil - Master
• Start date: March 01, 2011
• End date: May 31, 2013
• Field of knowledge: Engineering - Mechanical Engineering - Mechanical Engineering Design
• Principal Investigator: Ely Carneiro de Paiva
• Grantee: Rafael de Angelis Cordeiro
• Host Institution: Faculdade de Engenharia Mecânica (FEM). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil
• Associated scholarship(s): 11/22964-6 - Synthesis of linear and nonlinear controllers for an outdoor ground vehicle, BE.EP.MS

Abstract

This document presents the work's schedule for the masters scholarship required by Mr. Rafael de Angelis Cordeiro. This project proposes the development of a complete dynamic model for a four wheel vehicle with Ackerman steering and electric propulsion, as well as its use in a simulation environment, focusing strategies of control and autonomous navegation of the vehicle, both in rural environments (agricultural robotics) as in urban environments (low speeds).The project is located into the context of the relation between the Faculty of Mechanical Engineering (FEM/UNICAMP) and the Technology and Information Center Renato Archer (CTI), where the advisor has made researches for 12 years (1997-2009). The test platform is the electrical vehicle of the VERO project - External Robotic Vehicle.

Scientific publications

(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)

CORDEIRO, RAFAEL A.; AZINHEIRA, JOSE R.; DE PAIVA, ELY C.; BUENO, SAMUEL S.; IEEE. Dynamic Modeling and Bio-Inspired LQR Approach for Off-Road Robotic Vehicle Path Tracking. 2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), v. N/A, p. 6-pg., 2013-01-01. (11/22964-6, 10/14295-4, 08/57870-9)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

CORDEIRO, Rafael de Angelis. Modeling and path tracking control of an outdoor robotic ground vehicle. 2013. Master's Dissertation - Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Mecânica Campinas, SP.