Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 1, Pages 33-44Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.2998454
Keywords
Wheels; Brushless motors; Tires; Energy efficiency; Stability analysis; IEEE transactions; Mechatronics; Autonomous ground vehicles (AGVs); energy efficiency; lateral stability; overactuated (OA); riding comfort
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Funding
- Fulton Schools of Engineering, Arizona State University
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The overactuated AGV (OA-AGV) developed with four in-wheel motors and two steering motors demonstrates enhanced lateral stability, reduced energy consumption for lateral maneuvers, and improved riding comfort. Redundant actuators, sensor fusions, and path planning strategies significantly enhance the capabilities and potentials of AGVs in terms of safety, energy efficiency, and riding comfort.
To further enhance the safety, energy efficiency, and riding comfort of autonomous ground vehicles (AGVs), an overactuated AGV (OA-AGV) driven by four in-wheel motors and two steering motors is developed. Benefitted from the overactuation, three main advantages of the OA-AGV over conventional AGVs are demonstrated in this article. First, the lateral stability of the OA-AGV can be significantly enhanced with the additional rear wheel steering system. Second, the energy consumptions of the OA-AGV are reduced for lateral maneuvers compared with a conventional AGV with only front wheel steering. Third, the riding comfort of the OA-AGV, described by the lateral acceleration and jerk in lateral maneuvers, can also be improved. To evaluate and validate these three advantages of the OA-AGV, both simulation and experimental results are demonstrated and discussed. The conclusion is that the redundant actuators, together with sensor fusions and path planning strategies, can significantly enhance the capabilities and potentials of AGVs on safety, energy efficiency, and riding comfort.
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