TY - GEN
T1 - Research on distributed integrated control method for wheeled mobile robot with skid steering
AU - Wang, Lei
AU - Pei, Weiya
AU - Li, Xueyuan
AU - Zhou, Junjie
N1 - Publisher Copyright:
© 2020 ACM.
PY - 2020/11/17
Y1 - 2020/11/17
N2 - The skid steering vehicle has strong maneurerable capability, and it is widely used in military wheeled mobile robots and has a tendency to beused in the civilian sector.. This paper proposes a distributed drive integrated control technology based on a wheeled mobile robot with skid steering. The multi-objective optimal control method is used to assign control commands to each actuator. According to the characteristics of the road curve, the fuzzy recognition algorithm is used to study the on-line observation method of the road surface adhesion coefficient. The simulation is carried out by establishing the Trucksim/simulink joint simulation model. The torque curve assigned to each axis of the wheeled robot in different working conditions.
AB - The skid steering vehicle has strong maneurerable capability, and it is widely used in military wheeled mobile robots and has a tendency to beused in the civilian sector.. This paper proposes a distributed drive integrated control technology based on a wheeled mobile robot with skid steering. The multi-objective optimal control method is used to assign control commands to each actuator. According to the characteristics of the road curve, the fuzzy recognition algorithm is used to study the on-line observation method of the road surface adhesion coefficient. The simulation is carried out by establishing the Trucksim/simulink joint simulation model. The torque curve assigned to each axis of the wheeled robot in different working conditions.
KW - Distributed Drive
KW - Multi-Objective Optimal Control
KW - Trucksim/Simulink
KW - Wheeled Mobile Robot
UR - http://www.scopus.com/inward/record.url?scp=85121648146&partnerID=8YFLogxK
U2 - 10.1145/3440084.3441193
DO - 10.1145/3440084.3441193
M3 - Conference contribution
AN - SCOPUS:85121648146
T3 - ACM International Conference Proceeding Series
BT - Proceedings of the 2020 4th International Symposium on Computer Science and Intelligent Control, ISCSIC 2020
PB - Association for Computing Machinery
T2 - 4th International Symposium on Computer Science and Intelligent Control, ISCSIC 2020
Y2 - 17 November 2020 through 19 November 2020
ER -