Skid Steering Based Maneuvering of Robotic Vehicle with Articulated Suspension

Kang, Juyong; Kim, Wongun; Yi, Kyongsu; Jung, Soungyong

doi:10.4271/2009-01-0437

Cited by 10 publications

(12 citation statements)

References 5 publications

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“…8. The speed controller in the upper-level control is designed to follow the desired speed using the PI control method [8,14,15]. The lateral motion controller determines the yaw moment input in order to track the desired yaw motion which is determined according to the control mode, the remote control mode, and the autonomous driving control mode.…”

Section: Controller Designmentioning

confidence: 99%

Skid Steering-Based Control of a Robotic Vehicle with Six in-Wheel Drives

Kang

Kim

Lee

et al. 2010

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper describes a driving control algorithm based on a skid steering for a robotic vehicle with articulated suspension (RVAS). The RVAS is a kind of unmanned ground vehicle based on a skid steering using an independent in-wheel drive at each wheel. The driving control algorithm consists of four parts: a speed controller for following a desired speed, a lateral motion controller that computes a yaw moment input to track a desired yaw rate or a desired trajectory according to the control mode, a longitudinal tyre force distribution algorithm that determines an optimal desired longitudinal tyre force, and a wheel torque controller that determines a wheel torque command at each wheel in order to keep the slip ratio at each wheel below a limit value as well as to track the desired tyre force. Longitudinal and vertical tyre force estimators are required for the optimal tyre force distribution and wheel slip control. A dynamic model of the RVAS for simulation study is developed and validated using the vehicle test data. Simulation and vehicle tests are conducted in order to evaluate the proposed driving controller. It is found from simulation and vehicle test results that the proposed driving controller provides a satisfactory motion control performance according to the control mode.

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Section: Controller Designmentioning

confidence: 99%

Skid Steering-Based Control of a Robotic Vehicle with Six in-Wheel Drives

Kang

Kim

Lee

et al. 2010

Proceedings of the Institution of Mechanical Engineers, Part D:

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show abstract

“…The vehicle dynamic model was developed using "Matlab Simulink" in order to conduct numerical simulation studies [2]. The full dynamic model of the RVAS was designed with three parts: driving system, arm dynamic model, and vehicle body dynamic model as shown in Fig.…”

Section: Vehicle Dynamic Modelmentioning

confidence: 99%

“…(7), the internal forces and moments acting on the sprung mass can be calculated from Eqs. (1) and (2). Finally, the motion of the sprung mass can be calculated from the internal forces and moments using the d'Alembert's principle [7].…”

Section: Vehicle Dynamic Modelmentioning

confidence: 99%

“…The wheel torque controller computes the wheel torque command in order to track the desired longitudinal tire force and at the same time to keep the slip ratio below the limit value. Additionally, the longitudinal and vertical tire force estimators are required for optimal tire force distribution and wheel slip control [2,[8][9][10]. Fig.…”

Section: Controller Designmentioning

confidence: 99%

“…In the aspect of mobility, the RVAS benefits from its in-wheel drives and articulated suspensions, which provide an independent wheel traction control capability and a great improvement in obstacle negotiation ability, respectively. [1,2] The proposed driving control algorithm is related to motion control of skid steering vehicle and trajectory tracking control. Diverse control strategies for skid steering vehicle were proposed through previous research.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2010

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This paper describes an autonomous driving control algorithm based on skid steering for a Robotic Vehicle with Articulated Suspension (RVAS). The driving control algorithm consisted of four parts: speed controller for following the desired speed, trajectory tracking controller to track the desired trajectory, longitudinal tire force distribution algorithm which determines the optimal desired longitudinal tire force and wheel torque controller which determines the wheel torque command at each wheel to keep the slip ratio below the limit value as well as to track the desired tire force. The longitudinal and vertical tire force estimators were designed for optimal tire force distribution and wheel slip control. The dynamic model of the RVAS is validated using vehicle test data. Simulation and vehicle tests were conducted in order to evaluate the proposed driving control algorithm. Based on the simulation and test results, the proposed driving controller was shown to produces satisfactory trajectory tracking performance.

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