Modeling of robotic driver for tele-operated system of a half scaled armored vehicle

Soldiers play a significant role in contributing a security environment to a country from enemies’ threat. However, in conducting their military operations, the soldiers are prone
to many challenges that might endanger their lives. Therefore, to reduce the harm risk in military operations, this research is focus on the development of robotic driver system which consists of throttling, braking and steering mechanisms that will be used for teleoperated system of half scale armored vehicle. In developing the robotic driver system, at the initial stage, a design of robotic driver system is proposed. Then, the robotic driver system is modelled by using MATLAB Simulink software with a non-parametric model approach by using a 2nd order transfer function. Besides, a position tracking control of robotic driver system has been conducted using Software-In-Loop simulation (SILS) and Hardware-In-Loop simulation (HILS). On the other hand, a vehicle model is developed by considering lateral and longitudinal motions. This vehicle model will act as a platform to test the robotic driver system performance on various driving scenario. Moreover, a simple PID controller of this robotic driver system has been proposed to get the best performance. The results obtained from HILS will be validated with the SILS of robotic driver system. The results show that for throttling and braking validation processes, there are minor deviation error of vehicle speed which are around 16% and 13% respectively. Moreover, an error of 10% was recorded for the yaw rate of the vehicle from the steering system of robotic driver.