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Proceedings Papers

Trajectory Generation From Paths for Autonomous Ground Vehicles

Letian Lin, J. Jim Zhu
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A004, October 5–7, 2020
Paper No: DSCC2020-3300
DOI: https://doi.org/10.1115/DSCC2020-3300
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Topics: Autonomous vehicles, Trajectories (Physics), Algorithms, Vehicles, Boundary-value problems, Simulation results
Proceedings Papers

Line-of-Sight Pure Pursuit Guidance Stability Analysis and Design Guideline for Car-Like Autonomous Ground Vehicles

Letian Lin, J. Jim Zhu
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A007, October 8–11, 2019
Paper No: DSCC2019-9108
DOI: https://doi.org/10.1115/DSCC2019-9108
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Topics: Design, Stability, Vehicles, Theorems (Mathematics), Simulation results
Proceedings Papers

Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle

Yuanyan Chen, J. Jim Zhu, Letian Lin
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A007, October 8–11, 2019
Paper No: DSCC2019-9104
DOI: https://doi.org/10.1115/DSCC2019-9104
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Topics: Tracking control, Trajectories (Physics), Vehicles, Design, Kinematics, Control equipment, Dynamics (Mechanics), Hardware, Collisions (Physics), Nonlinear dynamics
Proceedings Papers

Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test

Yuanyan Chen, J. Jim Zhu
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A007, September 30–October 3, 2018
Paper No: DSCC2018-9148
DOI: https://doi.org/10.1115/DSCC2018-9148
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Topics: Trajectories (Physics), Vehicles, Design, Control equipment, Hardware, Tracking control, Dynamics (Mechanics), Kinematics, Model vehicles, Testing
Proceedings Papers

Path Planning for Autonomous Car Parking

Letian Lin, J. Jim Zhu
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A017, September 30–October 3, 2018
Paper No: DSCC2018-9195
DOI: https://doi.org/10.1115/DSCC2018-9195
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Topics: Driverless cars, Path planning, Algorithms, Design, Automobiles, Simulation results
Proceedings Papers

Car-Like Ground Vehicle Trajectory Tracking by Using Trajectory Linearization Control

Yuanyan Chen, J. Jim Zhu
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A014, October 11–13, 2017
Paper No: DSCC2017-5372
DOI: https://doi.org/10.1115/DSCC2017-5372
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Topics: Trajectories (Physics), Vehicles, Dynamics (Mechanics), Actuators, Computer simulation, Control equipment, Degrees of freedom, Design, Drag (Fluid dynamics), Modeling
Proceedings Papers

Pure Pursuit Guidance for Car-Like Ground Vehicle Trajectory Tracking

Yuanyan Chen, J. Jim Zhu
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A015, October 11–13, 2017
Paper No: DSCC2017-5376
DOI: https://doi.org/10.1115/DSCC2017-5376
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Topics: Trajectories (Physics), Vehicles, Algorithms, Automated guided vehicles, Computer simulation, Control equipment, Degrees of freedom, Design, Driverless cars, Dynamics (Mechanics)
Proceedings Papers

Forward and Inverse Position Kinematics for the R RSS R Parallel Robot With Hardware Validation

Robert L. Williams, II, Ryan Lucas, J. Jim Zhu
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A058, August 21–24, 2016
Paper No: DETC2016-59290
DOI: https://doi.org/10.1115/DETC2016-59290
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Topics: Hardware, Kinematics, Robots, Design, Servomotors, Simulation
Proceedings Papers

Spatial 3-SU R 1-RU Platform Robot Inverse Orientation Kinematics

Robert L. Williams, II, Elvedin Kljuno, J. Jim Zhu
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A059, August 21–24, 2016
Paper No: DETC2016-59291
DOI: https://doi.org/10.1115/DETC2016-59291
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Topics: Kinematics, Robots, Unmanned aerial vehicles, Actuators, Algorithms, Design, Flow (Dynamics), Polynomials, Servomotors, Testing
Proceedings Papers

A Biomimetic Elastic Cable Driven Quadruped Robot: The RoboCat

Elvedin Kljuno, J. Jim Zhu, Robert L. Williams, II, Stephen M. Reilly
Proc. ASME. IMECE2011, Volume 2: Biomedical and Biotechnology Engineering; Nanoengineering for Medicine and Biology, 759-769, November 11–17, 2011
Paper No: IMECE2011-63534
DOI: https://doi.org/10.1115/IMECE2011-63534
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Topics: Biomimetics, Cables, Robots, Motors, Design, Weight (Mass), Dynamics (Mechanics), Kinematics, Kinetic energy, Shock (Mechanics)
Proceedings Papers

Vision Guided Motion Control of a Biomimetic Quadruped Robot: RoboCat

Steven Carpenter, Xinming Yu, Melih Altun, James Graham, J. Jim Zhu, Janusz Starzyk
Proc. ASME. IMECE2011, Volume 2: Biomedical and Biotechnology Engineering; Nanoengineering for Medicine and Biology, 779-788, November 11–17, 2011
Paper No: IMECE2011-63805
DOI: https://doi.org/10.1115/IMECE2011-63805
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Topics: Biomimetics, Motion control, Robots, Algorithms, Artificial neural networks, Cables, Computers, Data acquisition, Decision making, Hardware