Design, implementation, and test of skid steering-based autonomous driving controller for a robotic vehicle with articulated suspension

Kang, Juyong; Kim, Wongun; Lee, Jong-Seok; Yi, Kyongsu

doi:10.1007/s12206-010-0115-z

Cited by 22 publications

(9 citation statements)

References 9 publications

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“…al. on a six wheel robotic vehicle with an articulated suspension [6]. Its curves are driven via the skid steering method, since the wheels are not steerable themselves.…”

Section: State-of-the-artmentioning

confidence: 99%

Locomotion Control Functions for the Active Chassis of the MMX Rover

Skibbe

Barthelmes

Buse

2021

2021 IEEE Aerospace Conference (50100)

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This is the author's copy of the publication as archived with the DLR's electronic library at http://elib.dlr.de . Please consult the original publication for citation, see e.g. https://ieeexplore.ieee.org/document/9438423 Locomotion Control Functions for the Active Chassis of the MMX Rover J. Skibbe and S. Barthelmes and F. Buse JAXA's Martian Moons eXploration Mission (MMX) includes the delivery of an exploration rover to the Mars moon Phobos in 2026, engineered by the Centre National d'Études Spatiales (CNES) and the German Aerospace Center (DLR). On Phobos, the gravity is about two thousand times lower than on Earth, which is why it is also called a milli-g environment. While the actual surface of Phobos is largely unknown, it is agreed within mission team that areas covered with regolith are to be expected. The design of the rover includes four actuated legs, with one rotational degree of freedom (DOF) each, and four individually driven, non-steerable wheels. The first task of the rover after landing on the surface of Phobos will be to deploy itself from its cruise configuration and to stand up on its wheels. Due to the rover dimensions, a full rotation of the legs and a wheel slip compensation are essential for this task. During operations, the locomotion system needs to provide drive and steer, as well as point turn abilities. Furthermore, the solar panel sun pointing, as well as the adjustment of scientific instruments, require that the rover aligns its body orientation and alters its body-to-ground distance. To satisfy all these requirements to the locomotion system of the MMX rover, appropriate locomotion control functions were developed. For driving curves and performing point turns, the skid steering method is applied and an "inching" locomotion mode for especially soft and steep terrain is adapted. In this inching locomotion, the front and rear wheel pair move alternately while the rover body moves up and down, which leads to enhanced traction performance compared to conventional driving in soft sand. This implies lower wheel slippage and sinkage resulting in a higher safety of the full rover system. The body orientation function, which is based on a kinematic control as well, provides a well coordinated movement and zero longitudinal slippage of the wheels during its execution. In this paper, a detailed description of the control algorithms is given and results from lab tests are presented and discussed. In a successful mission, these locomotion control functions will be the first ones actuating a wheeled mobile robot in milli-g environment.

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“…al. on a six wheel robotic vehicle with an articulated suspension [6]. Its curves are driven via the skid steering method, since the wheels are not steerable themselves.…”

Section: State-of-the-artmentioning

confidence: 99%

Locomotion Control Functions for the Active Chassis of the MMX Rover

Skibbe

Barthelmes

Buse

2021

2021 IEEE Aerospace Conference (50100)

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“…Tran, T. H. [8] used the methodology of terramechanics to analyze tire-road contact characteristics for predicting the moving trace of a vehicle, but it was difficult for real-time computation. Kim [1,[9][10][11] developed an 18-DOF dynamic model based on a 6 × 6, armed suspension vehicle to study vehicle state estimation, driving torque distribution, slip rate control, and vehicle motion control. Caldwell [12] used a tire model considering coulomb friction for optimization and predicted the turning performance for a skid-steered wheeled vehicle.…”

Section: Modeling Skid-steered Wheeled Vehiclementioning

confidence: 99%

Estimation of Skid-Steered Wheeled Vehicle States Using STUKF with Adaptive Noise Adjustment

et al. 2021

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Skid-steered wheeled vehicles are commonly adopted in outdoor environments with the benefits of mobility and flexible structure. However, different from Ackerman turning vehicles, skid-steered vehicles do not possess geometric constraint but only dynamic constraint when steered, which leads to motion control and state estimation problems for skid-steered vehicles. The controlling accuracy of a skid-steered vehicle depends largely on feedback state information from sensors and an observer. In this study, a 3-DOF dynamic model using a Brush nonlinear tire model is built, first, to model a 6 × 6 skid-steered wheeled vehicle in flat ground driving conditions. Then, an observer using the unscented Kalman filter with a strong tracking algorithm and adaptive noise matrix adjustment (AN-STUKF) is established to estimate vehicle motion states based on the 3-DOF dynamic model. Finally, the experiment is carried out in three different driving conditions to verify the accuracy and stability of the proposed method. The results show that the AN-STUKF method possesses better accuracy and tracking rate than the traditional UKF, and the phenomenon of ICRs shifting forward of the skid-steered wheeled vehicle is also verified.

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“…Several prior types of research have investigated the technology of steering or assisting steering by driving forces [6]. Francis Hooter and Meldrum firstly named skidsteering of wheeled combat vehicles as differential torque steer [7], but the critical point is that the combat vehicle does not have a steerable wheel for space-saving [8], so it is still skid-steering.…”

Section: Introductionmentioning

confidence: 99%

“…Francis Hooter and Meldrum firstly named skidsteering of wheeled combat vehicles as differential torque steer [7], but the critical point is that the combat vehicle does not have a steerable wheel for space-saving [8], so it is still skid-steering. Li et al proposed a measure of assist steering [6] based on integrated steering and traction/braking system. The laboratory, led by professor Hori of the University of Tokyo, had developed two hub motor electric vehicle named "UOT Electric March I" and "UOT Electric March II" [9][10][11] .…”

Section: Introductionmentioning

confidence: 99%

Design and Development of a Novel Independent Wheel Torque Control of 4WD Electric Vehicle

Shen

Zhang

Liu

et al. 2019

mech

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In this paper, a novel hybrid vehicle chassis is designed without assisted steering system and its kinematics model, dynamics model as well as a model of the control system. The existing steering mechanism does not provide enough torque or has a shortage of mechanical strength and control. The proposed design has the capability to solve these problems easily. In the first part of this study, the design and development of the vehicle are introduced. After that, a new 4-wheel-drive (4WD) hybrid vehicle chassis including a vehicle platform, a control device, and self-steering mechanism is designed. Its kinematics and dynamics models are built. Furthermore, to optimize the control model and linkage are added between the front and rear bodies. In addition, the new hybrid vehicle chassis has been tested in actual driving. The reliability and feasibility of the vehicle are evaluated by UG software. The open-loop simulation for validation is performed by MATLAB. Finally, traditional proportion-integration-differentiation (PID) control system of the improved model of vehicle chassis is presented. Therein, the PID feedback control loop was employed to track the reference torque of 4-independent wheels. The results are verified using the real-time vehicle. The proposed design is proved feasibility not only has a small turning radius but also has a high control precision, which ensures the flexibility of the vehicle and can control the direction as well. In addition, the proposed design is best for modern agricultural vehicle and can be implemented in commercial and private vehicles.

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Design, implementation, and test of skid steering-based autonomous driving controller for a robotic vehicle with articulated suspension

Cited by 22 publications

References 9 publications

Locomotion Control Functions for the Active Chassis of the MMX Rover

Locomotion Control Functions for the Active Chassis of the MMX Rover

Estimation of Skid-Steered Wheeled Vehicle States Using STUKF with Adaptive Noise Adjustment

Design and Development of a Novel Independent Wheel Torque Control of 4WD Electric Vehicle

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