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Proceedings Paper

Lightweight robotic mobility: template-based modeling for dynamics and controls using ADAMS/car and MATLAB
Author(s): Peter G. Adamczyk; David J. Gorsich; Greg R. Hudas; James Overholt
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Paper Abstract

The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.

Paper Details

Date Published: 30 September 2003
PDF: 12 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.497503
Show Author Affiliations
Peter G. Adamczyk, U.S. Army Tank- Automotive Research, Development, and Engineering Ctr. (United States)
The University of Michigan (United States)
David J. Gorsich, U.S. Army Tank- Automotive Research, Development, and Engineering Ctr. (United States)
Greg R. Hudas, U.S. Army Tank- Automotive Research, Development, and Engineering Ctr. (United States)
James Overholt, U.S. Army Tank- Automotive Research, Development, and Engineering Ctr. (United States)


Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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