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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records

Path Following with Slip Compensation for a Mars Rover

A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual odometry, full vehicle kinematics, a Kalman filter, and path following with slip compensation. The visual-odometry algorithm tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs, by use of a maximum-likelihood motion-estimation algorithm. The full-vehicle kinematics algorithm estimates motion, with a no-slip assumption, from measured wheel rates, steering angles, and angles of rockers and bogies in the rover suspension system. The Kalman filter merges data from an inertial measurement unit (IMU) and the visual-odometry algorithm. The merged estimate is then compared to the kinematic estimate to determine whether and how much slippage has occurred. The kinematic estimate is used to complement the Kalman-filter estimate if no statistically significant slippage has occurred. If slippage has occurred, then a slip vector is calculated by subtracting the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the wheel velocities and steering angles needed to compensate for slip and follow the desired path.

Helmick, Daniel↗

Path-Following Solutions Of Nonlinear Equations

Report describes some path-following techniques for solution of nonlinear equations and compares with other methods. Use of multipurpose techniques applicable at more than one stage of path-following computation results in system relatively simple to understand, program, and use. Comparison of techniques with method of parametric differentiation (MPD) reveals definite advantages for path-following methods. Emphasis in investigation on multiuse techniques being applied at more than one stage of path-following computation. Incorporation of multipurpose techniques results in concise computer code relatively simple to use.

Barger, Raymond L.↗

Some path-following techniques for solution of nonlinear equations and comparison with parametric differentiation

Some path-following techniques are described and compared with other methods. Use of multipurpose techniques that can be used at more than one stage of the path-following computation results in a system that is relatively simple to understand, program, and use. Comparison of path-following methods with the method of parametric differentiation reveals definite advantages for the path-following methods. The fact that parametric differentiation has found a broader range of applications indicates that path-following methods have been underutilized.

Barger, R. L.↗

Algorithms and Sensors for Small Robot Path Following

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

path following↗

Autonomous Path-Following for a Tilt-Wing, Distributed Electric Propulsion, Vertical Take-Off and Landing Unmanned Aerial System in Hover Mode

This paper presents an autonomous path-following control architecture for a tilt-wing, distributed electric propulsion, vertical take-off and landing unmanned aerial system in hover mode and presents indoor flight test results. The test-bed vehicle is a subscale model with the same configuration as the NASA GL-10 aircraft. The control architecture consists of an inner-loop attitude controller, outer-loop trajec­tory controller, and a trajectory generation scheme. The flight test results show that the vehicle can satisfactorily follow a path prescribed by a list of waypoints around the indoor flight room.

Cooper, John R.↗

Path following using visual odometry for Mars Rover in high-slip environments.

An architecture for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This architecture is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing (within the mechanical constraints of the mobility system). These technologies include: visual odometry, full vehicle kinematics, a Kalman filter, and a slop compensation/path follower. Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs using a maximum likelihood motion estimation algorithm. The full vehicle kinematics for a rocker-bogie suspension system estimates motion, with a no-slip assumption, by measuring wheel, rates, and rocker, bogie, and steering angles. The Kalman filter merges data from an Inertial Measurement Unit (IMU) and visual odometry. This merged estimate is then compared to the kinematic estimate to determining (tracking into account estimate uncertainties) if and how much slippage has occurred then a slip vector is calculated by differencing the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the necessary wheel velocities and steering angles to compensate for slip and follow the desired path.

Roumeliotis, Stergios I.↗

Simulator evaluation of separation of display parameters in path-following tasks

A five degree of freedom, fixed base simulation changing the location of the displays for bank angle, pitch angle, heading angle, and the vertical and lateral displacement from an instrument landing system path was studied. It is shown that the accuracy of the lateral path following and the pilot aircraft system dynamic characteristics deteriorate when bank angle is displayed separated from the other attitudes. It is found that best results are obtained when bank, heading, and pitch angles are displayed together and vertical and lateral displacements are displayed at another location in the display.

Sarma, G. R.↗

Simulator study of conventional general aviation instrument displays in path-following tasks with emphasis on pilot-induced oscillations

A study of the use of conventional general aviation instruments by general aviation pilots in a six degree of freedom, fixed base simulator was conducted. The tasks performed were tracking a VOR radial and making an ILS approach to landing. A special feature of the tests was that the sensitivity of the displacement indicating instruments (the RMI, CDI, and HSI) was kept constant at values corresponding to 5 n. mi. and 1.25 n. mi. from the station. Both statistical and pilot model analyses of the data were made. The results show that performance in path following improved with increases in display sensitivity up to the highest sensitivity tested. At this maximum test sensitivity, which corresponds to the sensitivity existing at 1.25 n. mi. for the ILS glide slope transmitter, tracking accuracy was no better than it was at 5 n. mi. from the station and the pilot aircraft system exhibited a marked reduction in damping. In some cases, a pilot induced, long period unstable oscillation occurred.

Adams, J. J.↗

Evaluation of a computer-generated perspective tunnel display for flight path following

The display was evaluated by monitoring pilot performance in a fixed base simulator with the vehicle dynamics of a CH-47 tandem rotor helicopter. Superposition of the predicted future vehicle position on the tunnel image was also investigated to determine whether, and to what extent, it contributes to better system performance (the best predicted future vehicle position was sought). Three types of simulator experiments were conducted: following a desired trajectory in the presence of disturbances; entering the trajectory from a random position, outside the trajectory; detecting and correcting failures in automatic flight. The tunnel display with superimposed predictor/director symbols was shown to be a very successful combination, which outperformed the other two displays in all three experiments. A prediction time of 4 to 7 sec. was found to optimize trajectory tracking for the given vehicle dynamics and flight condition. Pilot acceptance of the tunnel plus predictor/director display was found to be favorable and the time the pilot needed for familiarization with the display was found to be relatively short.

Grunwald, A. J.↗

Robust Path-following Controller for Multirotor Vehicles in Uncertain Wind Conditions

This paper presents simulations of L1 adaptive controller on a multirotor vehicle for compensation of convective winds. There are increasing efforts to utilize unmanned vehicles for fighting wildfires, but such vehicles need to be able to compensate for convective updrafts and other uncertainties (e.g., wind shear and turbulence) caused by the wildfire. Other application domains, such as urban air mobility, also must account for convective or uncertain winds present in urban microclimates. Geometric controllers have great tracking performance properties in environments without uncertainties, but the tracking performance degrades when wind disturbances and external loads are present in the environment. Introducing L1 adaptive control into the controller architecture compensates for these wind disturbances and reduces the tracking error caused by such disturbances. The controller architecture is implemented on a small quadrotor. The simulations demonstrate the advantages of the L1 adaptive augmentation for a sample figure-eight trajectory while encountering unknown variable wind conditions with an external load.

John L Bullock↗

Robust Path-following Controller for Multirotor Vehicles in Uncertain Wind Conditions

This paper presents simulations of L1 adaptive controller on a multirotor vehicle for compensation of convective winds. There are increasing efforts to utilize unmanned vehicles for fighting wildfires, but such vehicles need to be able to compensate for convective updrafts and other uncertainties (e.g., wind shear and turbulence) caused by the wildfire. Other application domains, such as urban air mobility, also must account for convective or uncertain winds present in urban microclimates. Geometric controllers have great tracking performance properties in environments without uncertainties, but the tracking performance degrades when wind disturbances and external loads are present in the environment. Introducing L1 adaptive control into the controller architecture compensates for these wind disturbances and reduces the tracking error caused by such disturbances. The controller architecture is implemented on a small quadrotor. The simulations demonstrate the advantages of the L1 adaptive augmentation for a sample figure-eight trajectory while encountering unknown variable wind conditions with an external load.

John Bullock↗

Control of mechanical systems with rolling constraints: Application to dynamic control of mobile robots

There are many examples of mechanical systems that require rolling contacts between two or more rigid bodies. Rolling contacts engender nonholonomic constraints in an otherwise holonomic system. In this article, we develop a unified approach to the control of mechanical systems subject to both holonomic and nonholonomic constraints. We first present a state space realization of a constrained system. We then discuss the input-output linearization and zero dynamics of the system. This approach is applied to the dynamic control of mobile robots. Two types of control algorithms for mobile robots are investigated: trajectory tracking and path following. In each case, a smooth nonlinear feedback is obtained to achieve asymptotic input-output stability and Lagrange stability of the overall system. Simulation results are presented to demonstrate the effectiveness of the control algorithms and to compare the performane of trajectory-tracking and path-following algorithms.

Sarkar, Nilanjan↗

Spatial and Temporal Deconfliction of Trajectories in the Presence of Uncertainties

Demonstration of conflict-free movement for multi-agent teams in challenging scenarios is crucial in developing trust and trustworthiness in an autonomous transport system. Tolerance verification queries are explored as a mechanism to enforce spatial and temporal deconfliction for a cooperating team of Unmanned Aerial Systems (UAS) with prescribed heterogeneous path-following performance. Obstacles in the environment are modelled as set of polyhedra, whereas each vehicle’s trajectory is represented as a sequence of polynomial curves with C2 continuity, expressed in a Bernstein basis. Each vehicle is modelled as a point mass and a safety distance, informed by the geometry of the UAS and the worst-case path-following error. This defines a tube around the trajectories where each UAS is most likely to fly through. In addition, obstacles in the environment have an associated safety buffer around them to account for the uncertainty in their location and geometric description. The tolerance verification queries explored in this paper combine the safety distance information from each UAS and environmental hazard to compute trajectories that are contained within the safe configuration space. Tolerance verification is also compared with other proximity queries to determine the suitability of each method along the different steps of the trajectory generation algorithm. This paper analyzes the fitness and performance of three proximity queries – collision, tolerance verification, and distance computations – between polyhedral and polynomial curves to ensure deconfliction between obstacles and vehicles, but also between polynomial curves to guarantee safe separation among cooperating UAS.

trajectory generation↗

Predictor laws for pictorial flight displays

Two predictor laws are formulated and analyzed: (1) a circular path law based on constant accelerations perpendicular to the path and (2) a predictor law based on state transition matrix computations. It is shown that for both methods the predictor provides the essential lead zeros for the path-following task. However, in contrast to the circular path law, the state transition matrix law furnishes the system with additional zeros that entirely cancel out the higher-frequency poles of the vehicle dynamics. On the other hand, the circular path law yields a zero steady-state error in following a curved trajectory with a constant radius. A combined predictor law is suggested that utilizes the advantages of both methods. A simple analysis shows that the optimal prediction time mainly depends on the level of precision required in the path-following task, and guidelines for determining the optimal prediction time are given.

Grunwald, A. J.↗

Computer-Aided Remote Driving

System for remote control of robotic land vehicle requires only small radio-communication bandwidth. Twin video cameras on vehicle create stereoscopic images. Operator views cross-polarized images on two cathode-ray tubes through correspondingly polarized spectacles. By use of cursor on frozen image, remote operator designates path. Vehicle proceeds to follow path, by use of limited degree of autonomous control to cope with unexpected conditions. System concept, called "computer-aided remote driving" (CARD), potentially useful in exploration of other planets, military surveillance, firefighting, and clean-up of hazardous materials.

Wilcox, Brian H.↗

A wideband channel model for land mobile satellite systems

A wideband channel model for Land Mobile Satellite (LMS) services is presented which characterizes the time-varying transmission channel between a satellite and a mobile user terminal. The channel model statistic parameters are the results of fitting procedures to measured data. The data used for fitting have a time resolution of 33 ns corresponding to a bandwidth of 30 MHz. Thus, the model is capable to characterize the channel behaviour for a wide range of services e.g., voice transmission, digital audio broadcasting (DAB), and spread spectrum modulation schemes. The model is presented for different environments and scenarios. The model is derived for a quasi-mobile user with hand-held terminal being in two different environments: rural and urban. The parameters needed for the description are (a) the number of echoes, (b) the distribution of the echo power, and (c) the distribution of the echo delay. It is shown that the direct path follows a Rician distribution whereas the reflected paths are Rayleigh/lognormal distributed. The parameters are given for an elevation angle of 25 deg.

Jahn, Axel↗

Nonlocal effects on the polarization state of a photon, induced by distant absorbers

A variant of a Franson's two-photon correlation experiment is discussed, in which the linear polarization state of one of the photons depends on the path followed in the interferometer. It is shown that although the path difference is greater than the coherence length, the photon can be found in a polarization state represented by the superposition of the polarization states associated to the paths when there is coincident detection. Since the photons, produced via parametric down-conversion, are fairly well localized in space and time, the situation in which one of the photons is detected before the other can reach the interferometer raises an intriguing point: it seems that in some cases the second photon would have to be described by two wave packets simultaneously. Unlike previous experiments, in which nonlocal effects were induced by means of polarizers of phase shifters, in the proposed experiment nonlocal effects can be induced by means of variable absorbers.

Ryff, Luis Carlos B.↗

Cursor Control Device Test Battery

The test battery was developed to provide a standard procedure for cursor control device evaluation. The software was built in Visual Basic and consists of nine tasks and a main menu that integrates the set-up of the tasks. The tasks can be used individually, or in a series defined in the main menu. Task 1, the Unidirectional Pointing Task, tests the speed and accuracy of clicking on targets. Two rectangles with an adjustable width and adjustable center- to-center distance are presented. The task is to click back and forth between the two rectangles. Clicks outside of the rectangles are recorded as errors. Task 2, Multidirectional Pointing Task, measures speed and accuracy of clicking on targets approached from different angles. Twenty-five numbered squares of adjustable width are arranged around an adjustable diameter circle. The task is to point and click on the numbered squares (placed on opposite sides of the circle) in consecutive order. Clicks outside of the squares are recorded as errors. Task 3, Unidirectional (horizontal) Dragging Task, is similar to dragging a file into a folder on a computer desktop. Task 3 requires dragging a square of adjustable width from one rectangle and dropping it into another. The width of each rectangle is adjustable, as well as the distance between the two rectangles. Dropping the square outside of the rectangles is recorded as an error. Task 4, Unidirectional Path Following, is similar to Task 3. The task is to drag a square through a tunnel consisting of two lines. The size of the square and the width of the tunnel are adjustable. If the square touches any of the lines, it is counted as an error and the task is restarted. Task 5, Text Selection, involves clicking on a Start button, and then moving directly to the underlined portion of the displayed text and highlighting it. The pointing distance to the text is adjustable, as well as the to-be-selected font size and the underlined character length. If the selection does not include all of the underlined characters, or includes non-underlined characters, it is recorded as an error. Task 6, Multi-size and Multi-distance Pointing, presents the participant with 24 consecutively numbered buttons of different sizes (63 to 163 pixels), and at different distances (60 to 80 pixels) from the Start button. The task is to click on the Start button, and then move directly to, and click on, each numbered target button in consecutive order. Clicks outside of the target area are errors. Task 7, Standard Interface Elements Task, involves interacting with standard interface elements as instructed in written procedures, including: drop-down menus, sliders, text boxes, radio buttons, and check boxes. Task completion time is recorded. In Task 8, a circular track is presented with a disc in it at the top. Track width and disc size are adjustable. The task is to move the disc with circular motion within the path without touching the boundaries of the track. Time and errors are recorded. Task 9 is a discrete task that allows evaluation of discrete cursor control devices that tab from target to target, such as a castle switch. The task is to follow a predefined path and to click on the yellow targets along the path.

Kritina Holden↗