A Novel Steering System for a Space-Saving 4WS4WD Electric Vehicle: Design, Modeling, and Road Tests

Zhang, Zutao; Zhang, Xingtian; Pan, Hongye; Salman, Waleed; Rasim, Yagubov; Liu, Xinglong; Wang, Chunbai; Yang, Yan; Li, Xiaopei

doi:10.1109/tits.2016.2561626

Cited by 47 publications

(18 citation statements)

References 31 publications

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“…In this paper, we mainly focus on the overall localization process, the detail of the odometry computation is out of the scope. Researches on encoder odometers have been thoroughly studied in [32] and [33].…”

Section: Bnb-amcl With Udfmentioning

confidence: 99%

Hybrid Maps Enhanced Localization System for Mobile Manipulator in Harsh Manufacturing Workshop

Huang

Zhang

et al. 2020

IEEE Access

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With excellent mobility and flexibility, mobile manipulators have great potential for loading and unloading tasks of numerical control machine tools (CNC) in manufacturing workshops. However, because of the rough and oily ground, dynamic obstacles and the convex plate of a CNC, harsh manufacturing workshop poses a huge challenge to the localization system of an autonomous mobile manipulator. To address the above problem, this paper presents a hybrid maps enhanced localization system which mainly consists of a global localization method and a pose tracking method. Hybrid maps including hybrid grid map, multiresolution likelihood fields (MLFs) and hybrid point map are constructed to efficaciously model the harsh environment and to improve localization performance. Our global localization method employs the convex hull sampling to spares dense Lidar data and the MLFs based branch and bound (BnB) search to speed up global search. To achieve real-time localization reliably and accurately, our pose tracking method seamlessly combines the BnB search and the adaptive Monte Carlo localization, and the Iterative Closest Point (ICP) based scan matching using the hybrid point map is adopted for higher accuracy. In addition, a distance filter improved by unscented transform is integrated into the pose tracking process to mitigate the influence of dynamic obstacles. The developed localization system is evaluated through different experiments including two weeks of loading and unloading tasks in a real manufacturing scenario, resulting in superior localization performance.

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Section: Bnb-amcl With Udfmentioning

confidence: 99%

Hybrid Maps Enhanced Localization System for Mobile Manipulator in Harsh Manufacturing Workshop

Huang

Zhang

et al. 2020

IEEE Access

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“…The SBW system mainly includes steering wheel assembly, steering executive assembly, main controller, Electronic Control Unit (ECU) and automatic fail-safe system, power supply and other auxiliary system components (Zhang et al, 2017;Sun, 2009), its structure is shown in Figure 1. Figure 2.…”

Section: Sbw Structural Analysis and Modellingmentioning

confidence: 99%

Research on robust reduction control method of steering-by-wire based on MBSE

Chen

et al. 2019

IJWMC

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Based on the theory and method of MBSE, a model of Steering-By-Wire (SBW) system with mechanical and electrical integration is established. Based on the model, a robust control strategy with H∞ mixed sensitivity is used, and a robust controller is designed. The high order robust controller is poor in real-time and has high cost. Routh, Hankel norm and ISE index reduction method are used to reduce the controller. Through time domain and frequency domain analysis, the effects of various reduction methods on the controller are discussed. Simulation results show that the ISE index reduction method has better reduction effect and has good robust performance and robust stability.

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“…The 4WS (Four wheel steering) vehicle has the structure with independents of both steering positions of the front and rear wheels, which is conducive to the control of vehicle stability [13]. In recent years, there have been many studies on the stability control and path tracking control of 4WS vehicles.…”

Section: Introductionmentioning

confidence: 99%

A Trajectory Tracking Control Strategy of 4WIS/4WID Electric Vehicle with Adaptation of Driving Conditions

Zheng

Yang

2019

Applied Sciences

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The Four Wheel Independent Steering/Driving (4WIS/4WID) electric vehicle has the advantage that the rotation angle and driving torque of each wheel can be independently and accurately controlled. In this paper, a trajectory tracking strategy based on the hierarchical control method is designed. In the path tracking layer, the nonlinear state feedback controller is used, and the neural network Proportion Integration Differentiation (NNPID) controller is designed to track the desired path and to obtain the desired yaw rate. By tracking the desired yaw rate and vehicle speed, the terminal sliding mode controller in vehicle dynamics control layer calculates the desired resultant tire force. In the tire force distribution layer, the multiple optimization objectives, including vehicle stability performance objective, energy-saving performance objective, and tire wear energy consumption objectives are determined and the weight coefficient is adaptive to different working conditions based on fuzzy logic theory. Finally, the wheel steering angle and driving torque of each wheel are calculated by the nonlinear three-degree-of-freedom vehicle model. Simulation results show that it realizes the adaptive control of tire force while tracking the desired trajectory, improves the stability and energy saving of the vehicle, and effectively reduces tire wear.

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A Novel Steering System for a Space-Saving 4WS4WD Electric Vehicle: Design, Modeling, and Road Tests

Cited by 47 publications

References 31 publications

Hybrid Maps Enhanced Localization System for Mobile Manipulator in Harsh Manufacturing Workshop

Hybrid Maps Enhanced Localization System for Mobile Manipulator in Harsh Manufacturing Workshop

Research on robust reduction control method of steering-by-wire based on MBSE

A Trajectory Tracking Control Strategy of 4WIS/4WID Electric Vehicle with Adaptation of Driving Conditions

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