Dynamic Control of a Vehicle with Two Independent Wheels.

Abstract

The feedback control and modeling of a mobile robot with two wheels that are independently steerable and drivable is studied. Two-wheel steer vehicles increase their maneuverability when both wheels are powered and therefore increases their performance in confined spaces. A dynamic feedback control algorithm is developed, which enables the vehicle to move from any initial configuration (position and orientation) to any final configuration. Simulation results are presented to verify the independent control of the two position variables and the orientation variable. A comparison with a two-wheel steering and one wheel drive vehicle shows that driving both wheels increases performance and maneuverability.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1997
Accession Number
ADA340452

Entities

People

  • Douglas R. Gerrard

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Angular Acceleration
  • Automation
  • Center Of Gravity
  • Closed Loop Systems
  • Control Surfaces
  • Control Systems
  • Engineering
  • Equations
  • Feedback
  • Maneuverability
  • Orientation (Direction)
  • Simulations
  • Steering
  • Surface Properties
  • Surfaces
  • Two Dimensional

Readers

  • Logistics and Supply Chain Management.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers