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Title: Miniature Autonomous Robotic Vehicle (MARV)

Sandia National Laboratories (SNL) has recently developed a 16 cm{sup 3} (1 in{sup 3}) autonomous robotic vehicle which is capable of tracking a single conducting wire carrying a 96 kHz signal. This vehicle was developed to assess the limiting factors in using commercial technology to build miniature autonomous vehicles. Particular attention was paid to the design of the control system to search out the wire, track it, and recover if the wire was lost. This paper describes the test vehicle and the control analysis. Presented in the paper are the vehicle model, control laws, a stability analysis, simulation studies and experimental results.
Authors:
; ; ; ;
Publication Date:
OSTI Identifier:
459406
Report Number(s):
SAND--96-2307C; CONF-970469--4
ON: DE96015187; TRN: AHC29708%%71
DOE Contract Number:
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: 1997 international conference on robotics and automation, Albuquerque, NM (United States), 20-25 Apr 1997; Other Information: PBD: [1996]
Research Org:
Sandia National Labs., Albuquerque, NM (United States)
Sponsoring Org:
USDOE, Washington, DC (United States)
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; 99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; ROBOTS; CONTROL SYSTEMS; MINIATURIZATION; USES; VEHICLES; CONTROL THEORY; PERFORMANCE; MOTION; REMOTE CONTROL