Tests of Monitoring of Motion Variables of Unmanned Vehicle Convoy

Abstract

This work analyzes test results of motion control system of unmanned cargo vehicles convoy with manned master vehicle developed by NAMI Institute. Development of intelligent transportation systems is determined by necessity to improve efficiency and safety of cargo and passenger traffic in hard-to-reach areas of northern Russia, Arctic and Antarctic regions. Scientific substantiation of engineering solutions accounting for specific operation conditions and peculiarities of controls is of outstanding importance. The problem of motion control of unmanned vehicle convoy is formulated in terms of dynamic stability of state coordinates, its solution prevents collision with obstacles and stability control of master vehicle. State coordinates of vehicles were determined by virtual data sensors based on indirect measurements using mathematical models and solution algorithms of ill-posed problems. Measurements of longitudinal speed of mass center, longitudinal and transversal accelerations, pressure drop in tires, turning angle of driven wheels, motion path plotting and recognition of road markings have been analyzed. Efficiency of the developed system of motion control of unmanned vehicle convoy in Russia has been confirmed experimentally.