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Autonomous Robots

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30.06.2017

Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle

verfasst von: Penglei Dai, Javad Taghia, Stanley Lam, Jay Katupitiya

Erschienen in: Autonomous Robots | Ausgabe 3/2018

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Abstract

The aim of this paper is to present a novel approach to enable a four-wheel steer four-wheel drive (4WS4WD) vehicle to follow a predefined path under force control. The novelty is in the combination of a sliding mode controller that determines the steering angles using a kinematic model and a real-time particle swarm optimization based controller that determines the drive torques using a dynamic model. The dynamic model takes into account all the slip forces acting on the vehicle. The combined controllers are then used to drive the 4WS4WD vehicle to follow a path. In order to enable the implementation of the controllers, the path to be followed is generated using 7-order Bézier curves that can provide smooth kinematic and dynamic reference profiles. Simulation results are provided to demonstrate the applicability of the proposed methodology and its robustness.

Vorheriger Artikel Using probabilistic movement primitives in robotics

Nächster Artikel Generic method for generating blended gestures and affective functional behaviors for social robots

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Titel: Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle
verfasst von: Penglei Dai
Javad Taghia
Stanley Lam
Jay Katupitiya
Publikationsdatum: 30.06.2017
Verlag: Springer US
Erschienen in: Autonomous Robots / Ausgabe 3/2018
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-017-9649-6

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