Miniature Autonomous Robotic Vehicle (MARV)

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Description

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 ... continued below

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9 p.

Creation Information

Feddema, J.T.; Kwok, K.S.; Driessen, B.J.; Spletzer, B.L. & Weber, T.M. December 31, 1996.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. It has been viewed 48 times . More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

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.

Physical Description

9 p.

Notes

OSTI as DE96015187

Source

  • 1997 international conference on robotics and automation, Albuquerque, NM (United States), 20-25 Apr 1997

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  • Other: DE96015187
  • Report No.: SAND--96-2307C
  • Report No.: CONF-970469--4
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 459406
  • Archival Resource Key: ark:/67531/metadc687259

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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Creation Date

  • December 31, 1996

Added to The UNT Digital Library

  • July 25, 2015, 2:21 a.m.

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  • April 13, 2016, 3:01 p.m.

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Feddema, J.T.; Kwok, K.S.; Driessen, B.J.; Spletzer, B.L. & Weber, T.M. Miniature Autonomous Robotic Vehicle (MARV), article, December 31, 1996; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc687259/: accessed September 19, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.