A Hybrid Controller with Observation and Decision Making for Autonomous Mobility Control System

Project began mid-2020 and was completed Q1 2022.

The purpose of this project is to develop research fundamentals of a autonomous mobility control system (AMCS) with:

1. an adjustable mobility control algorithm that is able to effectively operate in different severe terrains within an appropriate response time and, thus, to prevent the tire spinning,
2. observation algorithms that are able to provide on-line states of the locomotion module’s normal, longitudinal, and rotational dynamics, and
3. an Artificial Intelligence (AI) - based learning component that is able to learn from the observers’ data in real-time and improve/mature the mobility control parameters .

The goal is to mathematically design and demonstrate in computational simulations the autonomous mobility control system that functionally integrates the above-listed three components. This will be done for a locomotion module that is an assembly unit/corner of a Joint Light Tactical Vehicle (JLTV).

Experimental and analytical data researched in “Instant Tire Slippage Characterization with Digital Image Correlation for Autonomous Mobility Applications” will be used in this project.

Publications:

• Ghasemi, M., Vantsevich, V. V., Gorsich, D. J., & Moradi, L. (2021). Robust control design for a single-wheel module operating in an off-road terrain with uncertain and stochastic attributes. Paper presented at the IFAC-PapersOnLine, , 54(20) 624-631. doi:10.1016/j.ifacol.2021.11.241
• Vantsevich, V. V., Gorsich, D. J., Paldan, J. R., Ghasemi, M., & Moradi, L. (2022). Terrain mobility performance optimization: Fundamentals for autonomous vehicle applications. part I. new mobility indices: Optimization and analysis. Journal of Terramechanics, 104, 31-47. doi:10.1016/j.jterra.2022.09.001
• Vantsevich, V. V., Gorsich, D. J., Paldan, J. R., Ghasemi, M., Moradi, L., & Letherwood, M. (2022). Terrain mobility performance optimization: Fundamentals for autonomous vehicle applications part II. computational simulation, implementation for mobility design, and validation. Journal of Terramechanics, 104, 59-85. doi:10.1016/j.jterra.2022.06.001

#1.A82