期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 26, 期 1, 页码 33-44出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.2998454
关键词
Wheels; Brushless motors; Tires; Energy efficiency; Stability analysis; IEEE transactions; Mechatronics; Autonomous ground vehicles (AGVs); energy efficiency; lateral stability; overactuated (OA); riding comfort
类别
资金
- Fulton Schools of Engineering, Arizona State University
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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