Hostname: page-component-cd9895bd7-gvvz8 Total loading time: 0 Render date: 2024-12-23T16:17:27.708Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and development of a novel autonomous scaled multiwheeled vehicle

Published online by Cambridge University Press:  21 September 2021

Aaron Hao Tan ,
Michael Peiris ,
Moustafa El-Gindy  and
Haoxiang Lang Open the ORCID record for Haoxiang Lang [Opens in a new window]
Aaron Hao Tan
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
Michael Peiris
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
Moustafa El-Gindy
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
Haoxiang Lang*
Affiliation:
Department of Automotive, and Mechatronics Engineering, University of Ontario Institute of Technology, Oshawa, Ontario, CanadaL1H 7K4
*
*Corresponding Author:[email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

This article proposes the design and development of a novel custom-built, autonomous scaled multiwheeled vehicle that features an eight-wheel drive and eight-wheel steer system. In addition to the mechanical and electrical design, high-level path planning and low-level vehicle control algorithms are developed and implemented including a two-stage autonomous parking algorithm is developed. A modified position-based visual servoing algorithm is proposed and developed to achieve precise pose correction. The results show significant gains in accuracy and efficiency comparing with an open-source path planner. It is the aim of this work to expand the research of autonomous platforms taking the form of commercial and off-road vehicles using actuated steering and other mechanisms attributed to passenger vehicles. The outcome of this work is a unique autonomous research platform that features independently driven wheels, steering, autonomous navigation, and parking.

Keywords

Multiwheeled vehicledesignautonomous navigationvisual servoingpath planning
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1475 - 1500
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Crouse, M., “Today in Engineering History: Car Pioneer Karl Benz Born,” (in English), Product Design & Development, 2015 Nov 25 2016-01-13 (2015).Google Scholar
Bagloee, S. A., Tavana, M., Asadi, M., and Oliver, T., “Autonomous vehicles: challenges, opportunities, and future implications for transportation policies,” J. Mod. Transp. 24(4), 284–303 (2016).CrossRefGoogle Scholar
Blok, P. M., van Boheemen, K., van Evert, F. K., Ijsselmuiden, J., and Kim, G.-H., “Robot navigation in orchards with localization based on Particle filter and Kalman filter,” Comput. Electron. Agric. 157, 261–269 (2019).CrossRefGoogle Scholar
Peterson, J., Li, W., Cesar-Tondreau, B., Bird, J., Kochersberger, K., Czaja, W., and McLean, M., “Experiments in unmanned aerial vehicle/unmanned ground vehicle radiation search,” J. Field Robot. 36(4), 818–845 (2019).CrossRefGoogle Scholar
Bawden, O., Kulk, J., Russell, R., McCool, C., English, A., Dayoub, F., Lehnert, C., and Perez, T., “Robot for weed species plant-specific management,” J. Field Robot. 34(6), 1179–1199 (2017).CrossRefGoogle Scholar
Carpio, R. F., Potena, C., Maiolini, J., Ulivi, G., Rossello, N. B., Garone, E., and Gasparri, A., “A Navigation Architecture for Ackermann Vehicles in Precision Farming,” IEEE Robot. Autom. Letters 5(2), 1102–1109 (2020).CrossRefGoogle Scholar
Sanguino, T. J. M., “50 years of rovers for planetary exploration: A retrospective review for future directions,” Robot. Autonom. Syst. 94, 172–185 (2017).Google Scholar
Islam, M., Chowdhury, M., Rezwan, S., Ishaque, M., Akanda, J., Tuhel, A., and Riddhe, B., Novel design and performance analysis of a Mars exploration robot: Mars rover mongol pothik. pp. 132–136 (2017).CrossRefGoogle Scholar
Kumar, S., Gogul, I., Raj, M., Pragadesh, S. K., and Sebastin, J., “Smart Autonomous Gardening Rover with Plant Recognition Using Neural Networks,” Procedia Comput. Sci. 93, 975–981, 12/31 (2016).CrossRefGoogle Scholar
Radhakrishna Prabhu, S. G., Seals, R. C., Kyberd, P. J., and Wetherall, J. C., “A survey on evolutionary-aided design in robotics,” Robotica 36(12), 1804–1821 (2018).CrossRefGoogle Scholar
Martínez-García, E. A., Lerín-García, E., and Torres-Córdoba, R., “A multi-configuration kinematic model for active drive/steer four-wheel robot structures,” Robotica 34(10), 2309–2329 (2016).CrossRefGoogle Scholar
Li, T. H. S., Lee, M. H., Lin, C. W., Liou, G. H., and Chen, W. C., “Design of Autonomous and Manual Driving System for 4WIS4WID Vehicle,” IEEE Access 4, 2256–2271 (2016).CrossRefGoogle Scholar
Qiu, Q., Fan, Z., Meng, Z., Zhang, Q., Cong, Y., Li, B., Wang, N., and Zhao, C., “Extended Ackerman Steering Principle for the coordinated movement control of a four wheel drive agricultural mobile robot,” Comput. Electron. Agric. 152, 40–50 (2018).CrossRefGoogle Scholar
Ye, Y., He, L., and Zhang, Q., “Steering Control Strategies for a Four-Wheel-Independent-Steering Bin Managing Robot,” IFAC-PapersOnLine 49(16), 39–44, 2016/01/01/ (2016).CrossRefGoogle Scholar
Segura, C. C. G., Hernandez, J. C. M., Dutra, M. S., Mauledoux, M. M., and Avilés, O. F. S., “Ackerman Model for a Six-Wheeled Robot (ACM1PT),” Appl. Mech. Mater. 823, 441–446 (2016).CrossRefGoogle Scholar
Stania, M., “Analysis of the Kinematics of an Eight-Wheeled Mobile Platform,” Solid State Phenom. 198, 67–74, 03/11 (2013).CrossRefGoogle Scholar
Menendez-Aponte, P., Kong, X., and Xu, Y., “An Approximated, Control Affine Model for a Strawberry Field Scouting Robot Considering Wheel–Terrain Interaction,” Robotica 37(9), 1545–1561 (2019).CrossRefGoogle Scholar
Kim, C., Ashfaq, A. M., Kim, S., Back, S., Kim, Y., Hwang, S., Jang, J., and Han, C., “Motion Control of a 6WD/6WS wheeled platform with in-wheel motors to improve its maneuverability,” Int. J. Control Autom. Syst. 13(2), 434–442 (2015).CrossRefGoogle Scholar
Kim, W. G., Kang, J. Y., and Yi, K., “Drive control system design for stability and maneuverability of a 6WD/6WS vehicle,” Int. J. Autom. Tech. 12(1), 67–74 (2011).CrossRefGoogle Scholar
Oftadeh, R., Aref, M. M., Ghabcheloo, R., and Mattila, J., “Bounded-velocity motion control of four wheel steered mobile robots,” ed: IEEE, 255–260 (2013).CrossRefGoogle Scholar
Aliseichik, A. P. and Pavlovsky, V. E., “The model and dynamic estimates for the controllability and comfortability of a multiwheel mobile robot motion,” Autom. Remote Control 76(4) 675–688 (2015).CrossRefGoogle Scholar
Yan, F., Li, B., Shi, W., and Wang, D., “Hybrid Visual Servo Trajectory Tracking of Wheeled Mobile Robots,” IEEE Access 6, 24291–24298 (2018).CrossRefGoogle Scholar
Wu, Y. and Wang, Y., “Asymptotic tracking control of uncertain nonholonomic wheeled mobile robot with actuator saturation and external disturbances,” Neural Comput. Appl. 32(12) 8735–8745 (2020).CrossRefGoogle Scholar
Bozek, P., Karavaev, Y. L., Ardentov, A. A., and Yefremov, K. S., “Neural network control of a wheeled mobile robot based on optimal trajectories,” Int. J. Adv. Robot. Syst. 17(2), 172988142091607 (2020).CrossRefGoogle Scholar
Chen, H., Yang, H. a., Wang, X., and Zhang, T., “Formation control for car-like mobile robots using front-wheel driving and steering,” Int. J. Adv. Robot. Syst. 15(3), 172988141877822 (2018).CrossRefGoogle Scholar
Chih-Jui, L., Su-Ming, H., Ying-Hao, W., Cheng-Hao, Y., Chien-Feng, H., and Li, T.-H. S., “Design and implementation of a 4WS4WD mobile robot and its control applications,” ed: IEEE, 235–240 (2013).Google Scholar
Bo, H., “Precise navigation for a 4WS mobile robot,” J. Zhejiang Univ. Sci. 7(2) 185–193 (2006).Google Scholar
Penglei, D. and Katupitiya, J., “Path planning and tracking of a 4WD4WS vehicle to be driven under force control,” ed: IEEE, 1709–1715 (2014).Google Scholar
Li, Y., He, L., and Yang, L., Path-following control for multi-axle car-like wheeled mobile robot with nonholonomic constraint, 268–273 (2013).Google Scholar
Hamerlain, F., Floquet, T., and Perruquetti, W., “Experimental tests of a sliding mode controller for trajectory tracking of a car-like mobile robot,” Robotica 32(1), 63–76 (2014).CrossRefGoogle Scholar
Ghaffari, S. and Homaeinezhad, M. R., “Intelligent path following of articulated eight-wheeled mobile robot with nonholonomic constraints,” in 2016 4th International Conference on Robotics and Mechatronics (ICROM), 173–178 (2016).CrossRefGoogle Scholar
Ghaffari, S. and Homaeinezhad, M. R., “Autonomous path following by fuzzy adaptive curvature-based point selection algorithm for four-wheel-steering car-like mobile robot,” Proc. Inst. Mech. Eng., Part C 232(15), 2655–2665 (2018).CrossRefGoogle Scholar
Ragheb, H., El-Gindy, M., and Kishawy, H., “Torque Distribution Control for Multi-Wheeled Combat Vehicle,” 2014. Online]. Available: https://doi.org/10.1115/DETC2014-34034.CrossRefGoogle Scholar
El-Gindy, M. and D’Urso, P., “Development of control strategies of a multi-wheeled combat vehicle,” Int. J. Autom. Control 12, 325, 01/01 (2018).CrossRefGoogle Scholar
Mohamed, A., El-Gindy, M., Ren, J., and Lang, H., Optimal Collision-Free Path Planning for an Autonomous Multi-Wheeled Combat Vehicle, p. V003T01A002 (2017).CrossRefGoogle Scholar
Mohamed, A., El-Gindy, M., and Ren, J., “Design and Performance Analysis of Robust H∞ Controller for a Scaled Autonomous Multi-Wheeled Combat Vehicle Heading Control,” 2018. [Online]. Available: https://doi.org/10.1115/DETC2018-85032.CrossRefGoogle Scholar
Moreno Ramírez, C., Tomás-Rodríguez, M., and Evangelou, S. A., “Dynamic analysis of double wishbone front suspension systems on sport motorcycles,” Nonlinear Dyn. 91(4), 2347–2368, 2018/03/01 (2018).CrossRefGoogle Scholar
Siegwart, R., Nourbakhsh, I. R., and Scaramuzza, D., Introduction to autonomous mobile robots, 2nd ed. ed. (Intelligent robotics and autonomous agents). Cambridge, MA: MIT Press, 2011.Google Scholar
Adamu, E. I., Afolayan, M. O., Umaru, S., and Garba, D. K., “The modelling and control of the drive system of an Ackermann Robot using GA optimization,” Niger. J. Technol. 37(4), 1008 (2018).CrossRefGoogle Scholar
Koubaa, A., Robot Operating Systems (ROS) - The Complete Reference. Cham: Springer International Publishing AG, 2016.CrossRefGoogle Scholar
Magyar, B., Tsiogkas, N., Deray, J., Pfeiffer, S., and Lane, D., “Timed-Elastic Bands for Manipulation Motion Planning,” IEEE Robot. Autom. Letters 4(4), 3513–3520 (2019).CrossRefGoogle Scholar
Mao, R. and Ma, X., “Research on Path Planning Method of Coal Mine Robot to Avoid Obstacle in Gas Distribution Area,” J. Robot. 1–6, 2016 (2016).Google Scholar