Mini-compact cars win particular interest as the application fields for specialised duties grow, with large number of potential users. The paper deals with results related to the RoboRanger project, developed by the Authors in recent years. This is a low speed vehicle, with four independent electrically powered wheels. The driver, as usual, selects the path by steering and acceleration commands and a controller needs be interposed for the actuation consistency. A sample strategy is considered, with inclusion of fuzzy-logic rules, to grant stability in front of uncertainties (road slipperiness and unevenness, etc.) and to supply a friendly restitution of the steering commands, so that the user keeps self-confidence of the tyres' controlled slip mechanism. The investigation aims at simple set-ups, taking into account car's low performance: the strategy basically exploits the inverse kinematics to close the error feedbacks and to equalise each wheel input, depending on the trajectory to be followed. The developed fuzzy controller is simple and computationally efficient and simulation trials show good and robust performances.


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    Title :

    The city car roboranger: a controller for independent powered wheels


    Additional title:

    Der Stadtauto-RoboRanger: Ein Regler für Allradantriebe


    Contributors:


    Publication date :

    1998


    Size :

    10 Seiten, 11 Bilder, 14 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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