TY - JOUR
T1 - Development and Performance Enhancement of an Overactuated Autonomous Ground Vehicle
AU - Huang, Yiwen
AU - Wang, Fengchen
AU - Li, Ao
AU - Shi, Yue
AU - Chen, Yan
N1 - Funding Information:
Manuscript received January 4, 2020; revised April 13, 2020; accepted May 19, 2020. Date of publication May 29, 2020; date of current version February 16, 2021. This work was supported by the Fulton Schools of Engineering, Arizona State University. Recommended by Technical Editor D. Cao and Senior Editor X. Chen. (Corresponding author: Yan Chen.) Yiwen Huang and Ao Li are with the School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ 85287 USA (e-mail: yiwenhuang@asu.edu; aoli5@asu.edu).
Publisher Copyright:
© 1996-2012 IEEE.
PY - 2021/2
Y1 - 2021/2
N2 - To further enhance the safety, energy efficiency, and riding comfort of autonomous ground vehicles (AGVs), an overactuated AGV (OA-AGV) driven by four in-wheel motors and two steering motors is developed. Benefitted from the overactuation, three main advantages of the OA-AGV over conventional AGVs are demonstrated in this article. First, the lateral stability of the OA-AGV can be significantly enhanced with the additional rear wheel steering system. Second, the energy consumptions of the OA-AGV are reduced for lateral maneuvers compared with a conventional AGV with only front wheel steering. Third, the riding comfort of the OA-AGV, described by the lateral acceleration and jerk in lateral maneuvers, can also be improved. To evaluate and validate these three advantages of the OA-AGV, both simulation and experimental results are demonstrated and discussed. The conclusion is that the redundant actuators, together with sensor fusions and path planning strategies, can significantly enhance the capabilities and potentials of AGVs on safety, energy efficiency, and riding comfort.
AB - To further enhance the safety, energy efficiency, and riding comfort of autonomous ground vehicles (AGVs), an overactuated AGV (OA-AGV) driven by four in-wheel motors and two steering motors is developed. Benefitted from the overactuation, three main advantages of the OA-AGV over conventional AGVs are demonstrated in this article. First, the lateral stability of the OA-AGV can be significantly enhanced with the additional rear wheel steering system. Second, the energy consumptions of the OA-AGV are reduced for lateral maneuvers compared with a conventional AGV with only front wheel steering. Third, the riding comfort of the OA-AGV, described by the lateral acceleration and jerk in lateral maneuvers, can also be improved. To evaluate and validate these three advantages of the OA-AGV, both simulation and experimental results are demonstrated and discussed. The conclusion is that the redundant actuators, together with sensor fusions and path planning strategies, can significantly enhance the capabilities and potentials of AGVs on safety, energy efficiency, and riding comfort.
KW - Autonomous ground vehicles (AGVs)
KW - energy efficiency
KW - lateral stability
KW - overactuated (OA)
KW - riding comfort
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U2 - 10.1109/TMECH.2020.2998454
DO - 10.1109/TMECH.2020.2998454
M3 - Article
AN - SCOPUS:85100327623
SN - 1083-4435
VL - 26
SP - 33
EP - 44
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
M1 - 9103612
ER -