0000000000061636
AUTHOR
L.s. Ciancimino
Virtual Vehicles Manager: a java virtual reality environment for distributed multi vehicles dynamics control and simulation
This paper describes a lightweight, full portable software environment for development, simulation and control of vehicles. All the software is developed in Java so there are many advantages as portability, multithreading distribution etc. This environment simulates the vehicles integrating their non-linear differential equation systems. The equation systems can easily be modified changing that representation class so it is easy to manage different vehicles. The scenario is displayed as a 3D virtual reality environment in which all the objects are rendered using a combination of 3 d primitive. It is also possible the use of pre-built 3 d objects loaded from files in 3 ds format. The softwar…
A New Environment for Distributed Multiple Vehicles Dynamics Control and Simulation
Although there are many simulation softwares, the 3D multi-vehicle field needs further study. This paper describes a lightweight, full portable software environment for development, simulation and control of vehicles. This environment simulates ground wheeled vehicles and their environment. Multi vehicle study can be done adding the vehicle mathematical model and the 3D graphical model. The scenario is displayed as a 3D virtual reality environment in which all the objects are rendered using a combination of 3D primitive and/or pre-built 3D objects loaded from file. Since the software is made up of a set of multi-treading object-oriented Java classes, there are many advantages as portability…
An Intelligent Car Driver for safe Navigation with Fuzzy Obstacle Avoidance.
In order to respond effectively to the environment uncertainties, autonomous vehicles are generally equipped with sensors. The proposed car guidance system is equipped with an intelligent controller, based on fuzzy logic, which calculates the speed and wheels orientation in order to follow a path while it is avoiding unknown obstacles. Better fluidity of driving are obtained using future-path, car dimension and car position prevision. Vehicle symmetries also speed-up and simplify the guidance system reducing the inputs and the rules numbers.
On-line adaptive neural network in very remote control system
Remote control involves several issues that degrade seriously the performance of the plant to be controlled. This paper presents a strategy improving the characteristics of the remote control system, using an on-line adaptive neural net, in order to learn the variations of the remote system parameters to minimize the errors. This strategy is successfully applied to a client-server remote control system for a two link robot arm. Tests show that an error position in a remote control brushless motor can be highly reduced since its first "reference command" using a prevision of that error to modify the original reference. The neural net, used only by the client, is previously trained using loca…
Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles
Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in the planning phase are used for the efficient trajectory following. From the shape, in order to follow the trajectory, an intelligent controller calculates, without further elaboration, the reference wheels velocity of the vehicle. The knowledge of trajectory shape characteristics and curvature constraints …
A Distributed approach to the Remote Control and Programming Improvement
The remote control of industrial plants through networks is becoming very important nowadays but it involves several issues that can degrade the performance and usability of the remote plant. This paper presents a distributed architecture improving a remote programming system which allows users to control and to program a plant remotely. The control system is based on a client/server architecture with many user interfaces that control the plant. The remote programming language is a mix of Java and client/server protocol in order to simplify the developing and to avoid the protocol/language translation. In order to obtain more efficiency, the program is developed in the client side and it is…