| Full text | |
| Author(s): |
Cordeiro, R. A.
;
Ribeiro, A. M.
;
Azinheira, J. R.
;
Victorino, A. C.
;
Ferreira, P. A. V.
;
de Paiva, E. C.
;
Bueno, S. S.
;
IEEE
Total Authors: 8
|
| Document type: | Journal article |
| Source: | 2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017); v. N/A, p. 6-pg., 2017-01-01. |
| Abstract | |
Intelligent vehicles sense their dynamics and the environment to make proper decisions. Some of this information are hard to be measured or need expensive sensors. This paper addresses the estimation of road grade angles, along with tire-ground interaction forces, in a delayed interconnected cascade observer structure. A new approach using a Two-Stage Extended Kalman Filter is proposed, allowing a robust simultaneous estimation of the slow and fast dynamics variables. Experimental data is used to validate the estimator. (AU) | |
| FAPESP's process: | 16/00693-4 - Synthesis of nonlinear path tracking controllers for an Off-Road Four-Wheeled robotic vehicle |
| Grantee: | Rafael de Angelis Cordeiro |
| Support Opportunities: | Scholarships abroad - Research Internship - Doctorate |
| FAPESP's process: | 14/06610-8 - Path tracking control of a four-wheel robotic vehicle under adverse terrain conditions |
| Grantee: | Rafael de Angelis Cordeiro |
| Support Opportunities: | Scholarships in Brazil - Doctorate |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |
| FAPESP's process: | 14/27240-4 - Estimation of tire-ground interaction forces under all-terrain conditions |
| Grantee: | Rafael de Angelis Cordeiro |
| Support Opportunities: | Scholarships abroad - Research Internship - Doctorate |
| FAPESP's process: | 14/02672-9 - Development of a robotic electrical vehicle with electronic differential |
| Grantee: | Ely Carneiro de Paiva |
| Support Opportunities: | Regular Research Grants |