方向盘解耦的过度驱动智能自动驾驶汽车键合图建模

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2012-12-11 DOI:10.1109/ROBIO.2012.6491036

T. K. Bera, A. Samantaray, R. Merzouki, B. O. Bouamama

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引用次数: 0

摘要

本文研究了具有四个牵引轮、四个制动轮和四个转向系统的智能自动驾驶汽车的建模问题。在模块化、层次化的建模环境下，建立了整车动力系统的键合图模型。转向电机控制器采用了Ackerman转向概念。仿真结果表明了四轮转向在小机动工况下的优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Bond graph modeling of an over-actuated intelligent autonomous vehicle with decoupled steering wheel

This article deals with modeling of an intelligent autonomous vehicle with four traction wheels, four braking wheels and four-wheel steering system. The bond graph model of the integrated vehicle dynamic system is developed in a modular and hierarchical modeling environment. The Ackerman steering concept was used in the steering motor controller. Simulation results show the advantages of four-wheel steering during tight maneuvers.

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2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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