Operation System and Control of an Omnidirectional Car-like Mobile Base

全向车载式移动基地的操作系统与控制

• 批准号: 21560269
• 负责人: WADA Masayoshi
• 金额: $ 2.91万
• 依托单位: Tokyo University of Agriculture and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2009
• 资助国家: 日本
• 起止时间: 2009 至 2011
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21560269/
• 关键词: 機械力学・制御; 知能機械; 制御工学; 電動車

We have studied how to control an omnidirectional vehicle equipped with standard operation devices such as a steering wheel and gas/break pedals for driving the vehicle. Conventional omnidirectional vehicles need motion commands in 3DOF, x, y, and an orientation z, however standard operation devices can give 2DOF motion commands to the vehicle.We have proposed a motion control method for omnidirectional vehicles which based on calculations of a dynamic model of the vehicle with wheel slips, such as "car drift". The dynamic behaviors including side slips of the wheel can be realized by the omnidirectional mechanism.To verify the availability of the proposed system, we have designed and built a personal omnidirectional mobile platform with active-casters. The prototype vehicle performed dynamic behaviors including wheel slips based on the vehicle dynamic model.

我们已经研究了如何控制配备有标准操作装置（诸如用于驱动车辆的方向盘和油门/刹车踏板）的全向车辆。传统的全向车辆需要在3自由度、x、y和z方向上的运动指令，而标准的操作设备可以给车辆提供2自由度的运动指令。为了验证该系统的有效性，我们设计并搭建了一个带有主动脚轮的个人全方位移动的平台。基于车辆动力学模型，对原型车进行了包括车轮滑移在内的动力学行为试验。

项目成果

パーソナルビークルのための動力学モデル

私人车辆动力学模型

• 发表时间: 2012
• 作者: 岡田徳次;モハメドアビア;ボテリョバーグナ;篠崎敏宏,和田正義
• 通讯作者: 篠崎敏宏,和田正義

アクティブキャスタを用いた全方向移動車両の制御

使用主动脚轮进行全方位车辆控制

• 发表时间: 2011
• 作者: 和田正義;篠崎敏宏
• 通讯作者: 篠崎敏宏