Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot
It is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center...
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2016-05-01
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Series: | Advances in Mechanical Engineering |
Online Access: | https://doi.org/10.1177/1687814016651556 |
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doaj-19b3873109224c2e896f8562638440e12020-11-25T03:44:31ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402016-05-01810.1177/168781401665155610.1177_1687814016651556Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robotPingxia Zhang0Li Gao1Yongqiang Zhu2School of Automobile and Traffic, Qingdao Technological University, Qingdao, ChinaSchool of Mechanical Engineering, Beijing Institute of Technology, Beijing, ChinaDepartment of Electrical and Computer Engineering, National University of Singapore, SingaporeIt is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center of rotation or the steering angles of both the first- and last-axle wheels. To release these control schemes, steering mode selection and also the left wheel’s steering angle in a specific axle are added approaching a practical application. Thereafter, the remaining wheels’ steering angles can be calculated with the Ackerman steering theorem. In order to verify the control effects, a five-axle all-wheel-steering wheeled robot has been developed with the Bluetooth wireless monitor system. Based on the newly designed robot, validation experiments are carried out, such as lateral movement, situ rotation, and multi-mode steering within a narrow space. The results indicate that the proposed design in this article can ensure a more flexible and faster movement within a narrow space. It shows large potential in obstacle avoidance compared with the conventional partial-wheel steering mode.https://doi.org/10.1177/1687814016651556 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Pingxia Zhang Li Gao Yongqiang Zhu |
spellingShingle |
Pingxia Zhang Li Gao Yongqiang Zhu Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot Advances in Mechanical Engineering |
author_facet |
Pingxia Zhang Li Gao Yongqiang Zhu |
author_sort |
Pingxia Zhang |
title |
Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot |
title_short |
Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot |
title_full |
Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot |
title_fullStr |
Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot |
title_full_unstemmed |
Study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot |
title_sort |
study on control schemes of flexible steering system of a multi-axle all-wheel-steering robot |
publisher |
SAGE Publishing |
series |
Advances in Mechanical Engineering |
issn |
1687-8140 |
publishDate |
2016-05-01 |
description |
It is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center of rotation or the steering angles of both the first- and last-axle wheels. To release these control schemes, steering mode selection and also the left wheel’s steering angle in a specific axle are added approaching a practical application. Thereafter, the remaining wheels’ steering angles can be calculated with the Ackerman steering theorem. In order to verify the control effects, a five-axle all-wheel-steering wheeled robot has been developed with the Bluetooth wireless monitor system. Based on the newly designed robot, validation experiments are carried out, such as lateral movement, situ rotation, and multi-mode steering within a narrow space. The results indicate that the proposed design in this article can ensure a more flexible and faster movement within a narrow space. It shows large potential in obstacle avoidance compared with the conventional partial-wheel steering mode. |
url |
https://doi.org/10.1177/1687814016651556 |
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