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This paper develops and experimentally demonstrates a robust automatic parallel parking algorithm for parking in tight spaces. Novel fuzzy logic controllers are designed for each step of the maneuvering process. The controllers are first demonstrated by simulation using the kinematic model of a skid steering autonomous ground vehicle (AGV). They are then(More)
Robot Navigation in unknown and very cluttered environments constitutes one of the key challenges in unmanned ground vehicle (UGV) applications. Navigational limit cycles can occur when navigating (UGVs) using behavior-based or other reac-tive algorithms. Limit cycles occur when the robot is navigating towards the goal but enters an enclosure that has its(More)
Analysis of the power consumption for walking and running robots is particularly important for trajectory planning tasks as it enables motion plans that minimize energy consumption and do not violate power limitations of the robot actuators. This paper builds upon previous work on wheeled skid-steered robots, and for curvilinear motion of the XRL hexapedal(More)
—An industrial weigh belt feeder is used to transport solid materials into a manufacturing process at a constant fee-drate. It exhibits nonlinear behavior because of motor friction, saturation, and quantization noise in the sensors, which makes standard autotuning methods difficult to implement. This paper proposes and experimentally demonstrates two types(More)
Many autonomous ground vehicle (AGV) missions , such as those related to agricultural applications, search and rescue, or reconnaissance and surveillance, require the vehicle to operate in difficult outdoor terrains such as sand, mud, or snow. To ensure the safety and performance of AGVs on these terrains, a terrain-dependent driving and control system can(More)
Microgrids are a new concept for future energy distribution systems that enable renewable energy integration and improved energy management capability. Microgrids consist of multiple distributed generators (DGs) that are usually integrated via power electronic inverters. In order to enhance power quality and power distribution reliability, microgrids need(More)
In this paper a novel method called Sampling-Based Model Predictive Control (SBMPC) is proposed as an efficient MPC algorithm to generate control inputs and system trajectories. The algorithm combines the benefits of sampling-based motion planning with MPC while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms(More)
A multiple neural network learning system (MNNLS) was used to replicate the decisions made by mortgage insurance-underwriters. The MNNLS was trained on previous underwriter judgements and learned to mimic their underwriting skills. The system reached a high degree of agreement with human underwriters when testing on previously unseen examples. Disagreements(More)