The model and dynamic estimates for the controllability and comfortability of a multiwheel mobile robot motion

Aliseichik, A. P.; Pavlovsky, V E

doi:10.1134/s0005117915040128

Cited by 4 publications

(1 citation statement)

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“…To ensure the vehicle accurately follows a given path, a bounded velocity motion controller with nonlinear control techniques is described in [20]. Beyond control system development, the controllability of a similar vehicle for high-speed navigation in rough terrains is studied in [21]. All the mentioned work in control systems up to this point along with the others that are available generally focuses on four to six-wheeled vehicles with limited literature for eight-wheeled vehicles.…”

Section: Related Workmentioning

confidence: 99%

Design and development of a novel autonomous scaled multiwheeled vehicle

et al. 2021

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This article proposes the design and development of a novel custom-built, autonomous scaled multiwheeled vehicle that features an eight-wheel drive and eight-wheel steer system. In addition to the mechanical and electrical design, high-level path planning and low-level vehicle control algorithms are developed and implemented including a two-stage autonomous parking algorithm is developed. A modified position-based visual servoing algorithm is proposed and developed to achieve precise pose correction. The results show significant gains in accuracy and efficiency comparing with an open-source path planner. It is the aim of this work to expand the research of autonomous platforms taking the form of commercial and off-road vehicles using actuated steering and other mechanisms attributed to passenger vehicles. The outcome of this work is a unique autonomous research platform that features independently driven wheels, steering, autonomous navigation, and parking.

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Section: Related Workmentioning

confidence: 99%