Trajectory Tracking of Swing-Arm Type Omnidirectional Mobile Robot

Ran, Qifan; Yao, Shengzhuo; Chen, Xinbo; Bi, Guijun

doi:10.1155/2022/3297789

Cited by 1 publication

(1 citation statement)

References 16 publications

(15 reference statements)

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“…The vehicle needed to rely on the differential steering mechanism to achieve differential power distribution between the left and right axle shafts, and the four wheels did not swing during the steering process. In order to explore the impact of the differential steering mechanism on the rotational speeds of the driving wheels on both sides and analyze the relationship between input speed and steering radius, the four-wheel equivalent kinematic model was transformed into a two-wheel kinematic model [17,18]. Before and after the equivalence, the wheel rotational speeds and vehicle steering radius were not affected, and the simplified model of vehicle two-wheel steering was shown in Figure 7 If the rotational speeds of the left and right output axle shafts were known, then…”

Section: Analysis Of Steering Kinematics Model For the Wheel-track Co...mentioning

confidence: 99%

Analysis of Steering Performance for All-Terrain Wheel-Track Composite Unmanned Vehicle in Complex Environment

Li,

Yao,

Chen

et al. 2023

Preprint

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In order to solve the problems of complicated steering control of unmanned vehicles in the field and difficult steering on complex roads, we designed a wheel-track composite vehicle equipped with a novel power differential steering mechanism with dual driving, which drove the steering of the vehicle through the differential rotation of the rear two wheels. The unmanned vehicle was simple to control, small in size, and able to work under the conditions of complex roads, such as hills, mountains, and muddy land. Firstly, a steering mechanism with both differential speed and force was designed to prevent the vehicle from skidding into muddy land and stopping motionless. Secondly, the kinematics model and dynamics model of the two drive shafts and the two output shafts (wheel shafts) were established. Thirdly, according to the relationship between the rotational speed of the two output shafts and the steering radius of the vehicle, the kinematic model of the rotational speed of the two input shafts and the steering radius of the wheel-track composite vehicle was obtained. Finally, according to the test data, the mathematical model of rotational speeds of the two input shafts and the actual steering radius of the vehicle was obtained by neural network fitting, and the maximum relative error between the model results and the actual steering radius value was 3.53%. The combination of power differential steering mechanism and wheel-track composite unmanned vehicle increased the adhesion with the ground and could better adapt to the complex road environment. In conclusion, the unmanned vehicle had the advantages of continuous radius steering, deceleration and torsion increase, differential lock, etc. It was suitable for all-terrain military and civilian vehicles and various special equipment mobile platforms of the walking device, and the research results could provide theoretical references for the steering control and structural optimization of the wheel-track composite vehicle under the environment of complex road surface.

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Section: Analysis Of Steering Kinematics Model For the Wheel-track Co...mentioning

confidence: 99%