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A Study on the Optimum Velocity of a Four Wheel Steering Autonomous Robot  

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)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.17, no.4, 2009 , pp. 86-92 More about this Journal
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
Four-wheel steering system; Desired path; PID controller; Steady-state conering;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
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