Abstract
This manuscript provides a solution to the problem of four-wheel drive (4WD) kinematics and dynamics for trajectory control of an in-wheel motors rover. The rover is a platform built up in our laboratory, featured by its damper devices. The rover wheels’ contact point have dynamic positions as effects of spring-based suspension devices damper. The tracking control is a four-wheel drive skid-steering (4WDSS) system, and we propose a motion control fundamentally defining a dynamic turning z-axis, which moves within the area of the four wheels’ contact point. We provide a general solution for this mechanical design since the wheels’ contact point displacement directly impacts the rover angular velocity. Furthermore, we introduce a model for inertial localization based on an arrangement of two accelerometers to define the rover position within a global inertial frame.
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Martínez-García, E., Torres-Córdoba, R. (2010). 4WD Skid-Steer Trajectory Control of a Rover with Spring-Based Suspension Analysis. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_44
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DOI: https://doi.org/10.1007/978-3-642-16584-9_44
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16583-2
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