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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Elsevier Ltd
2012
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| Subjects: | |
| Online Access: | 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 |
| _version_ | 1848822251077500928 |
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| author | Khalid, Yunus Saesar, Luhur Budi Herawan, Tutut |
| author_facet | Khalid, Yunus Saesar, Luhur Budi Herawan, Tutut |
| author_sort | Khalid, Yunus |
| building | UMP Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T02:38:16Z |
| format | Article |
| id | ump-25316 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:38:16Z |
| publishDate | 2012 |
| publisher | Elsevier Ltd |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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. (Published) https://doi.org/10.1016/j.proeng.2012.01.592 https://doi.org/10.1016/j.proeng.2012.01.592 |
| 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 |
| title | 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_short | 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 |
| topic | QA76 Computer software |
| 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 |