A Study on The Motion Control of the 6x6 Electric Vehicle With Skid Steering Part 2: Autonomous Navigation FISITA2010/F2010E025

Authors

Kim, Dong-Hyung - Department of Mechanical Engineering, University of Hanyang, Seoul, Korea
Kim, Chang-Jun - Department of Mechanical Engineering, University of Hanyang, Seoul, Korea
Hwhang, Soon-Woong - Department of Mechanical Engineering, University of Hanyang, Seoul, Korea
Mian, Ashfaq Ali - Department of Mechanical Engineering, University of Hanyang, Seoul, Korea
Kim, Young-Ryul - Department of System Engineering, Ajou University, Suwon, Korea
Han, Chang-Soo - Department of Mechanical and Information Management Engineering, University of
Hanyang, Ansan, Korea

Abstract

The most research of the autonomous navigation had been worked a conventional vehicle with the engine as the power source. Therefore to make the vehicle drive itself, the steering and the throttle, the brake should be able to controlled using the actuators. By using an electric vehicle, such control becomes simple because the motion of the wheels can be directly controlled. In this research, the 6x6 electric vehicle is developed and tested for an autonomous navigation. To control the motors which are connected to the wheels, the control algorithm for the 6x6 electric vehicle is developed in part 1 of the paper. In that part, the torque control algorithms allow the skid-steering of the 6x6 electric vehicle. In the part 2, the path tracking and planning methods for the autonomous navigation are implemented to the 6x6 electric vehicle. With the given global path which is the set of the waypoints that the vehicle needs to follow, the vehicles should clear the each waypoint. In the previous researches, if the configuration of the path is too sharp or irregular, for example, then the stability of the vehicle is not guaranteed. To solve this problem, the geometric path tracking method is used. The path tracking controller makes a desired yaw rate which consider the state of the vehicle so the vehicle can follow the rough shape of path. To prevent the collision with an obstacle, the local path planning method called the obstacle potential is used. Each obstacle is defined as the set of obstacle points and it make an artificial force to the vehicle. These attractive forces keep the vehicle away from an obstacle. The idea is that if the vehicles just follow the desired yaw rate generated from the path tracking controller, then it will be attracted to the goal. However if the vehicle meet the obstacle, the desired yaw rate from the obstacle potential method is used to avoid an obstacle. As a result, for an autonomous navigation, the path tracking and planning method make the desired motion to the 6x6 electric vehicle

KEYWORDS – Path Tracking, Electric Vehicle, Vector Pursuit, 6x6 Vehicle, Skid Steering

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