Modelling and Control of Unmanned Ground Vehicle

Abstract : Unmanned Ground Vehicles (UGVs) are the next step to human safety by placing the human outside of the vehicle. They not only provide human safety but also have greater speed, mobility and can survive atmospheres that are lifethreatening to humans. The proposed vehicle has the capability of changing its ride height and traveling in rough terrains. In order to get the most precise structure and more precision, the following tests were performed for making the UGV optimum (i) sinkage which was done for heavy clay and sand, (ii) torque was tested on rubber and plane surface, (iii) projectile motion and impact force, (iv) diameter required for the shaft. Further, we identify an electromechanical transfer function connecting electrical input to mechanical output by finding equivalent inertia and damping. Finally, a simple PD controller is proposed to keep the actual output as close to the target as possible and proven to guarantee good performance. The simulation results show that the controller can satisfy tracking specifications.