Skip to main content

Advertisement

SpringerLink
Log in

Control System for Unmanned Transport Electric Vehicles Based on Microwave Doppler Sensors

  • RADIO MEASUREMENTS
  • Published:
Measurement Techniques Aims and scope

Control of pilotless electric vehicles indoors was studied. The issue of ensuring precise correspondence of control signals to the actual motion of transport vehicles in a room was examined. During the course of analyzing the dynamic model of the electric vehicle, it was discovered that the primary reasons for the occurrence of errors consists in the indirect nature of measuring the velocity of this vehicle by means of odometers. In order to solve this problem, it is proposed to use microwave Doppler sensors of the linear velocity of the wheels, observations of which do not depend on sliding, the mass of the electric vehicle, the voltage in the buses, and other parameters. Formulas were developed that make it possible, using the Doppler frequencies of sensors, to determine the current velocity and heading angle of electric vehicle control with the use of the Ackermann condition. Based on the specified formulas, a stable system for traffic control of pilotless transport electric vehicles on a specified route was developed. The proposed system can be used in the robotic transport systems.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.

Similar content being viewed by others

References

  1. M. Mondek and M. Hromčík, 21st Int. Conf. on Process Control (PC), Štrbské Pleso, Slovakia, June 6–9, 2017, IEEE (2017), pp. 240–246, https://doi.org/10.1109/PC.2017.7976220.

  2. R. N. Jazar, Vehicle Dynamics: Theory and Application, Springer (2008).

  3. M. Khristamto, A. Praptidjanto, and S. Kaleg, Energy Procedia, 68, 463–470 (2015), https://doi.org/10.1016/j.egypro.2015.03.278.

    Article  Google Scholar 

  4. M. Á. Sotelo, Robot. Auton. Syst., 45, Iss. 3–4, 223–233 (2003), https://doi.org/10.1016/j.robot.2003.09.002.

    Article  Google Scholar 

  5. K. Hartani, Y. Miloud, and A. Miloudi, “Electric vehicle stability with rear electronic differential traction,” EFEEA 10th Int. Symp. on Environment Friendly Energies in Electrical Applications, Ghardal’a, Algeria, Nov. 2–4, 2010, EFEEA (2010), pp. 1–5.

  6. K. Vitols and I. Galkin, 15th Int. Power Electronics and Motion Control Conference (EPE/PEMC), Novi Sad, Serbia, Sept. 4–6, 2012, pp. 1–5, https://doi.org/10.1109/EPEPEMC.2012.6397315.

  7. A. Yu. Gorbachev, “Application of odometers for correction of integrated navigation systems,” Vest. MGTU Baumana. Ser. Priborostr., No. 4, 37–54 (2009).

  8. A. Yu. Egorushkin and V. I. Mkrtchyan, “Improving the accuracy of land mobile object autonomous navigation,” Inzh. Zh.: Nauka Innov., 4, 1–12 (2016), https://doi.org/10.18698/2308-6033-2016-04-1480.

    Article  Google Scholar 

  9. D. Nister, O. Naroditsky, and J. Bergen, J. Field Robot., 23, Iss. 1, 3–20 (2006), https://doi.org/10.1002/rob.20103.

    Article  Google Scholar 

  10. D. V. Khablov, Measur. Techn., 62, No. 6, 554–561 (2019), https://doi.org/10.1007/s11018-019-01660-8.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow, Russia

    D. V. Khablov

Authors
  1. D. V. Khablov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to D. V. Khablov.

Additional information

Translated from Izmeritel’naya Tekhnika, No. 2, pp. 66–72, February, 2022.

Rights and permissions

Springer Nature or its licensor holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Khablov, D.V. Control System for Unmanned Transport Electric Vehicles Based on Microwave Doppler Sensors. Meas Tech 65, 142–149 (2022). https://doi.org/10.1007/s11018-022-02060-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11018-022-02060-1

Keywords

Search

Navigation