Lateral motion control of skid steering vehicles using full drive-by-wire system

Mokhiamar, Ossama; Amine, Semaan

doi:10.1016/j.aej.2017.03.024

Cited by 17 publications

(15 citation statements)

References 9 publications

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“…Many existing 4-wheel robots possess the Ackermann steering systems like that of Olakanmi in [7], which requires complicated mechanical linkages and can limit steering efficiency. To reduce these complications, many roboticists adopt the skid-steering system, which does not require the actual mechanical twisting of wheels to perform steering action [8]. According to Mokhiamar et al, the adoption of skid steering eliminates the mechanical interdependency of the wheels, through the direct motorization of each wheel.…”

Section: Related Workmentioning

confidence: 99%

“…According to Mokhiamar et al, the adoption of skid steering eliminates the mechanical interdependency of the wheels, through the direct motorization of each wheel. Consequently, this delegates more control of the wheels to the controller [8].…”

Section: Related Workmentioning

confidence: 99%

“…Unlike that of Jiang et al [9], which is a linear-motor actuated rocker-and-balance mechanism, ours is an electronically controlled servomechanism that has higher precision in the control of the pitch and roll motion of the robot, during navigation. For steering, we drew insights from [3], [8], to formulate a skid-steering control model for our robot. Generally, our emphasis is on a design that is optimal, practical, and cost-effective.…”

Section: Related Workmentioning

confidence: 99%

See 2 more Smart Citations

Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

Gratton¹,

Benyeogor²,

Nnoli³

et al. 2020

EJERS

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For a robot to navigate in terrains of rough and uneven topographies, its drives and controllers must generate and control large mechanical power with great precision. This paper is aimed at developing an autonomous robot with active-suspensions in form of a hybrid quadrupedal-wheel drive mechanism. This involves a computational approach to optimizing the development cost without compromising the system’s performance. Using the Solidworks CAD tool, auxiliary components were designed and integrated with the bed structure to form an actively suspended robot drive mechanism. Also, using the S-Math Computing tool, the robot’s suspension system was optimized, employing a four-bar mechanism. To enhance the compatibility of this design with the intended controller, some mathematical equations and numerical validations were formulated and solved. These included the modeling of tip-over stability and skid steering, the trendline equations for computing the angular positions of the suspension servomotors, and the computation of R2– values for determining the accuracy of these trendline equations. Using finite element analysis (FEA), we simulated the structural integrity of key sub-components of the final structure. The results show that our mechanical design is appropriate for developing an actively suspended robot that can efficiently navigate in different terrestrial sites and topographies.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

Gratton¹,

Benyeogor²,

Nnoli³

et al. 2020

EJERS

View full text Add to dashboard Cite

show abstract

“…This steering mechanism also requires the wheels to skid laterally against the ground in order to turn, therefore it is also known as skid-steering , which has been widely adopted for tracked vehicles, loaders, and farm machineries. 2–5 In addition, the DSV is equipped with in-wheel motors, thus the torque and speed of each wheel can be controlled independently and individually, 6 leading to higher achievable vehicle speeds up to 80 km/h and improved energy consumption over tracked vehicles. 7,8…”

Section: Introductionmentioning

confidence: 99%

Speed-adaptive motion control algorithm for differential steering vehicle

Chen

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The differential steering vehicle uses the in-wheel motors to drive the wheels directly and individually. However, in order to deliver the required structural robustness, the differential steering vehicle discarded the mechanical steering system and achieved vehicle steering by applying differential speed between the left and right wheels. This paper presents a novel speed-adaptive motion control algorithm based on the unique chassis configuration to enhance the performance in vehicle handling and lateral stability. The proposed control method first estimates the driver’s driving intention, from which reference wheel speeds are individually generated for each wheel based on their respective slipping and skidding status. Finally, the torque command is automatically adjusted by the speed-tracking controller by proactive adaptation of the wheel spinning resistance to effectively avoid excessive slip on low friction. This method exploits the fact that the torque at the steady state will always be equal to the available longitudinal force, thereby delivering the sophisticated tire force estimation without additional computational efforts, and ultimately helping conserve energy and promote lateral stability. The essential road information collected by this algorithm is also made available to drivers for improved vehicle controllability. The algorithm is subjected to three experimental case scenarios—pivot steering, low-friction driving, and curvilinear driving—through TruckSim–Simulink co-simulations and real vehicle tests, and the results have validated the algorithm in realizing the high-performance steering and maneuvering capabilities for six-wheeled differential steering vehicles.

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“…The acceleration, braking and steering by wire system equipped in the vehicle were documented and integrated with the low-level controller and safety module [4]. Mokhiamar et al proposed a control system for skid steering vehicles to enhance the motion dynamics, which especially has a significant benefit on stabilizing the lateral motion and improving the handling characteristics [5]. Gruyer et.…”

Section: Introductionmentioning

confidence: 99%

Mechatronics and Remote Driving Control of the Drive-by-Wire for a Go Kart

Lin

Wang

2020

Sensors

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This research mainly aims at the construction of the novel acceleration pedal, the brake pedal and the steering system by mechanical designs and mechatronics technologies, an approach of which is rarely seen in Taiwan. Three highlights can be addressed: 1. The original steering parts were removed with the fault tolerance design being implemented so that the basic steering function can still remain in case of the function failure of the control system. 2. A larger steering angle of the front wheels in response to a specific rotated angle of the steering wheel is devised when cornering or parking at low speed in interest of drivability, while a smaller one is designed at high speed in favor of driving stability. 3. The operating patterns of the throttle, brake, and steering wheel can be customized in accordance with various driving environments and drivers’ requirements using the self-developed software. The implementation of a steer-by-wire system in the remote driving control for a go kart is described in this study. The mechatronic system is designed in order to support the conversion from human driving to autonomous driving for the go kart in the future. The go kart, using machine vision, is wirelessly controlled in the WiFi frequency bands. The steer-by-wire system was initially modeled as a standalone system for one wheel and subsequently developed into its complete form, including front wheel steering components, acceleration components, brake components, a microcontroller, drive circuit and digital to analog converter. The control output section delivers the commands to the subsystem controllers, relays and converters. The remote driving control of the go kart is activated when proper commands are sent by the vehicle control unit (VCU). All simulation and experiment results demonstrated that the control strategies of duel motors and the VCU control were successfully optimized. The feasibility study and performance evaluation of Taiwan’s go karts will be conducted as an extension of this study in the near future.

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Lateral motion control of skid steering vehicles using full drive-by-wire system

Cited by 17 publications

References 9 publications

Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

Multi-terrain Quadrupedal-wheeled Robot Mechanism: Design, Modeling, and Analysis

Speed-adaptive motion control algorithm for differential steering vehicle

Mechatronics and Remote Driving Control of the Drive-by-Wire for a Go Kart

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