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Model predictive steering control for independent driving and steering vehicles considering coaxial steering mechanism — Implementation to an embedded CPU

机译：考虑同轴转向机制的独立驾驶和转向车辆的模型预测转向控制—嵌入式CPU的实现

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摘要

Omnidirectional vehicles with independent driving and steering wheels are useful since they can move with arbitrary attitude and change the moving direction rapidly. However, excessively rapid steering and unacceptable load may damage mechanisms. To prevent rapid steering and overloads, low-pass filter (LPF) is applied to the steering signals. Since the angular velocity should be limited on account of the motor constraint, even if the time constant is set small, the convergence of the steering is slow, and the error between the target angle and the real steering angle may occur. In this study, we propose the model predictive steering control for independent four-wheel driving and steering vehicles with coaxial steering mechanisms. The proposed method can consider physical constraints of actuators and achieve smooth and quick convergence of the steering to the target angle. We verify the efficiency of the proposed method by experiments using the vehicle which is equipped with an embedded CPU.
机译：具有独立驱动和方向盘的全向车辆很有用，因为它们可以任意姿态移动并迅速改变行进方向。但是，过快的转向和不可接受的负载可能会损坏机械装置。为了防止快速转向和过载，将低通滤波器（LPF）应用于转向信号。由于应基于电动机的限制来限制角速度，因此即使将时间常数设定得较小，转向的收敛也很慢，并且可能发生目标角度与实际转向角度之间的误差。在这项研究中，我们提出了具有同轴转向机构的独立四轮驱动和转向车辆的模型预测转向控制。所提出的方法可以考虑致动器的物理约束，并实现转向的平滑和快速收敛至目标角度。我们通过使用装有嵌入式CPU的车辆进行实验，验证了所提出方法的效率。

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