Control synthesis for 4WS vehicle-robot model for traffic program motion

Authors

DOI:

https://doi.org/10.15587/2312-8372.2019.180504

Keywords:

autonomous mobile wheeled robot, 4WS, 2WS, Ackerman condition, control law, mechatronic system, lateral sliding angle, yaw angle

Abstract

The object of research is an autonomous wheeled mobile robot model 4WS (Four Wheel Steering). The need for such studies is dictated by the limitations of using 2WS (Two Wheel Steering) robots to solve the problem of achieving multiple goals associated with insufficient maneuverability and traffic safety. This is one of the most problematic places of this model.

Such a task was successfully solved to achieve a single goal with this model, including reverse movements for an articulated crew, but the nature of the trajectory with multiple goals makes such a task practically unsolvable. To solve it, the design of the autonomous mobile robot DDMR model was successfully applied. The advantages of the 4WS model compared to the 2WS in terms of increasing maneuverability have led to the study of the possibility of using it to solve this problem.

In this study, the possibility of synthesizing the controlled movement of an autonomous mobile robot of the 4WS model along a program path specified in an explicit, implicit, parametric form or by the law of change in its curvature is realized. In this case, the angle of rotation of the front wheels is a function of the curvature of the program path, and the rear wheels are a function of the angle of rotation of the front. A feature of synthesized control for the 4WS model is the connection with control for the 2WS model.

Control for this model is synthesized initially and is an independent value. Such a reference control: the empirical dependence determines the virtual radius for which such a control is calculated for the 4WS model so that it moves along the path of the 2WS model. The rotation of the rear wheels (in phase with the front or out of phase) is considered in this case as an additional control.

An important feature of the study was the development of software that made it possible to perform numerical modeling of the synthesized control in the Maple mathematical package and visualization of maneuvers of movement in the Unity 3D system.

The results of numerical modeling and their visualization allow to conclude that it is possible to use the synthesized law to control autonomous mobile robots created using the 4WS model.

Author Biography

Dmitry Tatievskyi, Zaporizhzhya State Engineering Academy, 226, Sobornyаve., Zaporizhzhya, Ukraine, 69006

Postgraduate Student

Department of Computerized System Software

References

  1. Tseng, P.-K., Hung, M.-H., Yu, P.-K., Chang, S.-W., Wang, T.-W. (2014). Implementation of an Autonomous Parking System in a Parking Lot. Available at: https://www.artc.org.tw/upfiles/ADUpload/knowledge/tw_knowledge_492799245.pdf
  2. Schein, V. L. (2016). Optimal Vehicle Control of Four-Wheel Steering. Available at: http://www.science.smith.edu/~jcardell/StudentProjects/VSchein_capstone_final.pdf
  3. Fijalkowski, B. T. (2011). Automotive Mechatronics: Operational and Practical Issues. Dordrecht: Springer, 523. doi: https://doi.org/10.1007/978-94-007-1183-9
  4. Arvind, V. (2013). Optimizing the turning radius of a vehicle using symmetric four wheel steering system. International Journal of Scientific & Engineering Research, 4 (12), 2177–2184.
  5. Micaelli, A., Samson, C. (1993). Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. Available at: https://hal.inria.fr/inria-00074575/document
  6. Verbitskiy, V. H., Bannikov, V. A., Cherviakova, E. V., Belevtsova, N. L. (2012). K voprosu realyzatsyy upravlyaemoho dvyzhenyya vdol prohrammnoy kryvoy. Visnyk Donetskoyi akademiyi avtomobilnoho transportu, 3, 67–73.
  7. Berestova, S. A., Misyura, N. E., Mityushov, E. A. (2015). Kinematic control of vehicle motion. Vestnik Udmurtskogo Universiteta. Matematika. Mekhanika. Komp’yuternye Nauki, 25 (2), 254–266. doi: https://doi.org/10.20537/vm150210
  8. Pismennaya, Ye. V. (2013). Algoritmy upravleniya dvizheniyem mobilnogo robota po zadannym trayektoriyam. Mekhatronika, avtomatizatsiya, upravleniye, 3, 16–24.
  9. Verbitskiy, V. H., Poliakova, N. P., Tatievskiy, D. N. (2018). Issledovaniye vozmozhnosti realizatsii upravlyayemogo dvizheniya avtopoyezda vdol programmnoy krivoy. Vcheni zapysky Tavriyskoho natsionalnoho universytetu imeni V. I. Vernadskoho. Seriya: Tekhnichni nauky, 29 (6 (68)), 2–4.
  10. Yin, G.-D., Chen, N., Wang, J.-X., Chen, J.-S. (2010). Robust control for 4WS vehicles considering a varying tire-road friction coefficient. International Journal of Automotive Technology, 11 (1), 33–40. doi: https://doi.org/10.1007/s12239-010-0005-5
  11. Yin, G.-D., Chen, N., Wang, J.-X., Wu, L.-Y. (2010). A Study on μ-Synthesis Control for Four-Wheel Steering System to Enhance Vehicle Lateral Stability. Journal of Dynamic Systems, Measurement, and Control, 133 (1). doi: https://doi.org/10.1115/1.4002707
  12. Chen, C., Jia, Y. (2012). Nonlinear decoupling control of four-wheel-steering vehicles with an observer. International Journal of Control, Automation and Systems, 10 (4), 697–702. doi: https://doi.org/10.1007/s12555-012-0404-7
  13. Marino, R., Cinili, F. (2009). Input–Output Decoupling Control by Measurement Feedback in Four-Wheel-Steering Vehicles. IEEE Transactions on Control Systems Technology, 17 (5), 1163–1172. doi: https://doi.org/10.1109/tcst.2008.2004441
  14. El Hajjaji, A., Ciocan, A., Hamad, D. (2005). Four wheel steering control by fuzzy approach. Journal of Intelligent and Robotic Systems, 41 (2–3), 141–156. doi: https://doi.org/10.1007/s10846-005-3805-z
  15. Jie Zhang, Yunqing Zhang, Liping Chen, Jingzhou Yang. (2007). A fuzzy control strategy and optimization for four wheel steering system. 2007 IEEE International Conference on Vehicular Electronics and Safety. Beijing, China, 1–6. doi: https://doi.org/10.1109/icves.2007.4456359
  16. Song, J. (2012). Integrated control of brake pressure and rear-wheel steering to improve lateral stability with fuzzy logic. International Journal of Automotive Technology, 13 (4), 563–570. doi: https://doi.org/10.1007/s12239-012-0054-z
  17. Chen, Y., Chen, W., Wei, X., Zhao, F. (2012). Linear Quadratic Gaussian Optimal Control Strategy for Four-Wheel Steering Vehicle. Proceedings of the FISITA 2012 World Automotive Congress, 641–650. doi: https://doi.org/10.1007/978-3-642-33835-9_59
  18. Chen, S.-Z., Shu, J., Yang, L. (2006). Research on vehicle control technology using four-wheel independent steering system. Journal of Beijing Institute of Technology, 15 (1), 22–26.
  19. Gorelov, V. A., Kotiyev, G. O., Tropin, S. L. (2012). «Veyernyy» zakon dlya vsekolesnogo rulevogo upravleniya mnogoosnykh kolesnykh transportnykh sredstv. Vestnik MGTU im. N. E. Baumana. Ser. Mashinostroyeniye, 2, 102–116.
  20. Gao, L., Jin, L., Wang, F., Zheng, Y., Li, K. (2015). Genetic algorithm–based varying parameter linear quadratic regulator control for four-wheel independent steering vehicle. Advances in Mechanical Engineering, 7 (11), 168781401561863. doi: https://doi.org/10.1177/1687814015618632
  21. Sano, S., Furukawa, Y., Shiraishi, S. (1986). Four Wheel Steering System with Rear Wheel Steer Angle Controlled as a Function of Sterring Wheel Angle. SAE Transactions, 95, 880–893.

Downloads

Published

2019-07-12

How to Cite

Tatievskyi, D. (2019). Control synthesis for 4WS vehicle-robot model for traffic program motion. Technology Audit and Production Reserves, 4(2(48), 16–23. https://doi.org/10.15587/2312-8372.2019.180504

Issue

Vol. 4 No. 2(48) (2019): Information and control systems

Section

Systems and Control Processes: Original Research

License

Copyright (c) 2019 Dmitry Tatievskyi

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

The consolidation and conditions for the transfer of copyright (identification of authorship) is carried out in the License Agreement. In particular, the authors reserve the right to the authorship of their manuscript and transfer the first publication of this work to the journal under the terms of the Creative Commons CC BY license. At the same time, they have the right to conclude on their own additional agreements concerning the non-exclusive distribution of the work in the form in which it was published by this journal, but provided that the link to the first publication of the article in this journal is preserved.