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

This paper presents the development of scaled four-wheel steering and driven (4WS/4WD) vehicle ideally suited as a research and educational platform in mechatronics. Basic kinematic and dynamic models are presented as the base for vehicle computer simulation as well as for the parameter estimation using variants of Kalman filter. Further the structure of control and power electronic system is briefly described. Next, several examples of practical results dealing with parameter and state estimation are presented as a demonstration of the use of platform in education and research. The main contribution of the platform presented here is: the demonstration of wide range of problems including kinematics, embedded control and system identification; the high level of integration and complexity of solution which is typical for mechatronics; and the close relation to automotive engineering which is substantial in mechatronics but which also features the high level of attraction and motivation for students.