Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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A Study on the Optimum Velocity of a Four Wheel Steering Autonomous Robot

4륜조향 자율주행로봇의 최적속도에 관한 연구

  • Kim, Mi-Ok (Interdisciplinary Cooperative Course of Mechatronics, Pusan National University) ;
  • Lee, Jung-Han (Interdisciplinary Cooperative Course of Mechatronics, Pusan National University) ;
  • Yoo, Wan-Suk (School of Mechanical Engineering, Pusan National University)
  • 김미옥 (부산대학교 메카트로닉스협동과정) ;
  • 이정한 (부산대학교 메카트로닉스협동과정) ;
  • 유완석 (부산대학교 기계공학부)
  • Received : 2008.10.31
  • Accepted : 2009.03.16
  • Published : 2009.07.01
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Abstract

A driver-vehicle model means the integrated dynamic model that is able to estimate the steering wheel angle from the driver's desired path based on the dynamic characteristics of the driver and vehicle. Autonomous driving robot for factory automation has individual four-wheels which are driven by electronic motors. In this paper, the dynamic characteristics of several four-wheel steering systems with the simultaneously steerable front and rear wheels are investigated and compared by means of the driver-vehicle model. A diver-vehicle model is proposed by using the PID control to velocity and trajectory of control autonomous driving robot. To determine the optimum speed of a autonomous driving robot, steady-state circle simulation is carried out with the ADAMS program and MATLAB control model.

Keywords

References

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