A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment

In this paper, we present an alternative approach for analyzing performance and monitoring of unmanned ground vehicle (UGV) through a Hardware-in-the-loop (HIL) simulation. This approach is started by defined a mathematical model of kinematic-dynamic forces apply and sensor-actuator model that integ...

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Main Authors:	Khalid, Yunus, Saesar, Luhur Budi, Herawan, Tutut
Format:	Article
Language:	English
Published:	Elsevier Ltd 2012
Subjects:	QA76 Computer software
Online Access:	http://umpir.ump.edu.my/id/eprint/25316/ http://umpir.ump.edu.my/id/eprint/25316/ http://umpir.ump.edu.my/id/eprint/25316/ http://umpir.ump.edu.my/id/eprint/25316/1/A%20hardware-in-the-loop%20simulation%20and%20test%20for%20unmanned%20ground.pdf

id	ump-25316
recordtype	eprints
spelling	ump-253162019-12-09T04:41:17Z http://umpir.ump.edu.my/id/eprint/25316/ A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment Khalid, Yunus Saesar, Luhur Budi Herawan, Tutut QA76 Computer software In this paper, we present an alternative approach for analyzing performance and monitoring of unmanned ground vehicle (UGV) through a Hardware-in-the-loop (HIL) simulation. This approach is started by defined a mathematical model of kinematic-dynamic forces apply and sensor-actuator model that integrated in UGV for simulation. A novel hardware control architecture was built to meet the HIL simulation method. Both simulation model and hardware configurations are provided by MATLAB/simulink toolboxes. To verify the HIL system, 2 small fields was built for the real test. Moreover 3D virtual model of UGV and the environment test field was developed to ease the system monitoring. Finally from the tracking system, results show that the HIL simulation method combined with the real environment produce more information of parameter that influenced during the tests given. Elsevier Ltd 2012 Article PeerReviewed pdf en cc_by_nc_nd http://umpir.ump.edu.my/id/eprint/25316/1/A%20hardware-in-the-loop%20simulation%20and%20test%20for%20unmanned%20ground.pdf Khalid, Yunus and Saesar, Luhur Budi and Herawan, Tutut (2012) A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment. Procedia Engineering, 29. pp. 3904-3908. ISSN 1877-7058 https://doi.org/10.1016/j.proeng.2012.01.592 https://doi.org/10.1016/j.proeng.2012.01.592
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	QA76 Computer software
spellingShingle	QA76 Computer software Khalid, Yunus Saesar, Luhur Budi Herawan, Tutut A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment
description	In this paper, we present an alternative approach for analyzing performance and monitoring of unmanned ground vehicle (UGV) through a Hardware-in-the-loop (HIL) simulation. This approach is started by defined a mathematical model of kinematic-dynamic forces apply and sensor-actuator model that integrated in UGV for simulation. A novel hardware control architecture was built to meet the HIL simulation method. Both simulation model and hardware configurations are provided by MATLAB/simulink toolboxes. To verify the HIL system, 2 small fields was built for the real test. Moreover 3D virtual model of UGV and the environment test field was developed to ease the system monitoring. Finally from the tracking system, results show that the HIL simulation method combined with the real environment produce more information of parameter that influenced during the tests given.
format	Article
author	Khalid, Yunus Saesar, Luhur Budi Herawan, Tutut
author_facet	Khalid, Yunus Saesar, Luhur Budi Herawan, Tutut
author_sort	Khalid, Yunus
title	A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment
title_short	A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment
title_full	A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment
title_fullStr	A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment
title_full_unstemmed	A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment
title_sort	hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment
publisher	Elsevier Ltd
publishDate	2012
url	http://umpir.ump.edu.my/id/eprint/25316/ http://umpir.ump.edu.my/id/eprint/25316/ http://umpir.ump.edu.my/id/eprint/25316/ http://umpir.ump.edu.my/id/eprint/25316/1/A%20hardware-in-the-loop%20simulation%20and%20test%20for%20unmanned%20ground.pdf
first_indexed	2023-09-18T22:38:49Z
last_indexed	2023-09-18T22:38:49Z
_version_	1777416776414396416

A hardware-in-the-loop simulation and test for unmanned ground vehicle on indoor environment

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