Development of 4WS/4WD Experimental Vehicle: platform for research and education in mechatronics

Grepl, R.; Vejlupek, Josef; Lamberský, V.; Jasansky, M.; Vadlejch, Filip; Čoupek, P.

doi:10.1109/icmech.2011.5971241

Cited by 22 publications

(9 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Former experience with design of the robotic platforms (testing and racing robotic platform Bender I and II [2,3]) reduced the selection to Ackerman or hybrid chassis which are convenient for the high energy efficiency. Hybrid chassis with independent control and actuation of all drives is a complex task to both mechanical design and motion control [4]; on the contrary, Ackerman chassis requires only one propulsion drive with differential gear and one steering actuator. Even with the cost of limited maneuverability resulting in more complex motion planners due to nonholonomic constraints, the Ackerman steering still proves as the best variant.…”

Section: Chassis Conceptmentioning

confidence: 99%

See 1 more Smart Citation

Complex Mechanical Design of Autonomous Robot Advee

Ripel

Hrbáček

2011

Mechatronics

View full text Add to dashboard Cite

Abstract. This paper describes mechanical design of the autonomous mobile robot Advee which serves as an advertising tool. The robot provides the client with a unique kind of propagation using various fitted devices as a touch monitor or a thermal printer. Complex mechanical construction of this information portal or an electronic hostess, as it can be presented, has major effect on final characteristics of the whole robotic system. Low power consumption, stability and robust safety precautions are the most important attributes directly bound to mechanical design of the body. The outer look also plays important role, as the operation environment of the robot is indoor public sector and its purpose is to attract people's attention.

show abstract

Section: Chassis Conceptmentioning

confidence: 99%

“…The action force consist of three parts where F v is a the traction force (2), F a is the force necessary to overcome inertial factors (3) and F s is the force comprising motion on inclined plane (4).…”

Section: Actuators Calculationmentioning

confidence: 99%

Complex Mechanical Design of Autonomous Robot Advee

Ripel

Hrbáček

2011

Mechatronics

View full text Add to dashboard Cite

show abstract

“…11 and given by (7). In this brief, the j th wheel is driven and steered such that the desired velocity of its center equals V j , with V j as in Fig.…”

Section: A Controller Of Xmentioning

confidence: 99%

“…Research on 4WS4WD EVs has focused on the problems of tire-force distribution [1], [6], development of prototypes and laboratory scale testbeds [7], path-tracking control (PTC) [8]- [12], faulttolerant PTC [13], and fault-tolerant control of the motors [14]. This brief restricts itself to developing a simple solution to the problem of PTC.…”

Section: Introductionmentioning

confidence: 99%

Path-Tracking Control of an Autonomous 4WS4WD Electric Vehicle Using Its Natural Feedback Loops

Potluri

Singh

2015

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

A four-wheel steering four-wheel drive electric vehicle has a steering motor and a driving motor for each wheel, for a total of eight motors. Almost all of the existing pathtracking controllers for this vehicle are designed by viewing the mathematical model of the vehicle as the system of equationṡ x = f (x, u), y = h(x, u), and are mathematically sophisticated. In contrast, this brief presents a block diagrammatic representation of the model, and exploits the natural feedback loops revealed through this representation to develop two novel and useful results: 1) a mathematically simpler path-tracking controller that promises to be easier to tune and 2) a constraint on the wheel accelerations that helps constrain the wheel slips to a desired value. Simulations illustrate this solution.Index Terms-Active wheel, autonomous corner module, disturbance observer (DOB), electric corner module, four-wheel steering four-wheel drive (4WS4WD), input-to-state stability (ISS), path-tracking control (PTC). 1063-6536

show abstract

“…Most vehicle kinematic models are developed based on the non-integrable kinematic constraints, known as non-holonomic constraints. As a result, the wheel slip has to be ignored with the assumption of zero relative velocity between wheels and terrain [9,10]. To utilize the kinematic model's advantage of keeping the steering control relatively independent of velocity control [11], it is desirable to incorporate wheel slip in the vehicle kinematic model so as to facilitate the accurate vehicle control in complex terrain conditions where the no-slip assumption is not applicable.…”

Section: Introductionmentioning

confidence: 99%

MPC and PSO Based Control Methodology for Path Tracking of 4WS4WD Vehicles

et al. 2018

View full text Add to dashboard Cite

Four wheel steering and four wheel drive (4WS4WD) vehicles are over-actuated systems with superior performance. Considering the control problem caused by the system nonlinearity and over-actuated characteristics of the 4WS4WD vehicle, this paper presents two methods to enable a 4WS4WD vehicle to accurately follow a predefined path as well as its reference trajectories including velocity and acceleration profiles. The methodologies are based on model predictive control (MPC) and particle swarm optimization (PSO), respectively. The MPC method generates the virtual inputs in the upper controller and then allocates the actual inputs in the lower controller using sequential quadratic programming (SQP), whereas the PSO method is proposed as a fully optimization based method for comparison. Both methods achieve optimization of the steering angles and wheel forces for each of four independent wheels simultaneously in real time. Simulation results achieved by two different controllers in following the reference path with varying disturbances are presented. Discussion about two methodologies is provided based on their theoretical analysis and simulation results.

show abstract

Development of 4WS/4WD Experimental Vehicle: platform for research and education in mechatronics

Cited by 22 publications

References 10 publications

Complex Mechanical Design of Autonomous Robot Advee

Complex Mechanical Design of Autonomous Robot Advee

Path-Tracking Control of an Autonomous 4WS4WD Electric Vehicle Using Its Natural Feedback Loops

MPC and PSO Based Control Methodology for Path Tracking of 4WS4WD Vehicles

Contact Info

Product

Resources

About