4WS4WD车辆建模及其路径跟踪控制

2013 IEEE Symposium on Computational Intelligence in Control and Automation (CICA) Pub Date : 2013-04-16 DOI:10.1109/CICA.2013.6611677

Michael R. Woods, J. Katupitiya

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引用次数: 12

摘要

本文提出了一个考虑车轮转动动力学和轮胎地形相互作用的四轮转向四轮驱动(4WS4WD)车辆刚体运动动力学模型。同时提出了一种考虑运动约束的改进跟踪算法和一种分散的车轮推进控制系统。仿真结果表明了模型的有效性和路径跟踪算法的成功实现。

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

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.

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

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