Modelling of a 4WS4WD vehicle and its control for path tracking

Author

Woods, Michael R. ; Katupitiya, Jayantha

Author_Institution

Sch. of Mech. & Manuf. Eng., Univ. of New South Wales, Sydney, NSW, Australia

fYear

2013

fDate

16-19 April 2013

Firstpage

155

Lastpage

162

Abstract

This paper presents a dynamic model representing the rigid body motion of a four wheel steer and four wheel drive (4WS4WD) vehicle which also takes into account the rotational dynamics of the individual wheels as well as the tyre terrain interactions. It also presents a modified pursuit algorithm taking into account the kinematic constraints as well as a decentralized wheel propulsion control system. Simulation results are presented to show the model validation and the successful implementation of the path tracking algorithm.

Keywords

decentralised control; drives; mobile robots; path planning; propulsion; robot dynamics; robot kinematics; steering systems; tyres; vehicle dynamics; wheels; 4WS4WD vehicle modelling; decentralized wheel propulsion control system; dynamic model; four wheel steer and four wheel drive vehicle; kinematic constraints; modified pursuit algorithm; path tracking algorithm; rigid body motion; rotational dynamics; tyre terrain interactions; Automation; Computational intelligence; Decision support systems; Handheld computers; Integrated circuits; Four wheel steer four wheel drive systems; path tracking; traction control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Control and Automation (CICA), 2013 IEEE Symposium on

Conference_Location

Singapore

Type

conf

DOI

10.1109/CICA.2013.6611677

Filename

6611677