Abstract
This paper presents a motion control method for a nonholonomic omnidirectional vehicle moving on undulating area. The vehicle has four wheel units, each of which is equipped with a nonholonomic mobile base and a chassis tilting mechanism with 1 DOF active prismatic joint and 3 DOF free rotary joint. The motion control system consists of chassis-unit controller and wheel-unit controller; the chassis-unit controller decides the desired motion of the vehicle, while each of wheel-unit controllers controls its own mobile base and chassis tilting mechanism to produce the desired motion of the vehicle. A path-tracking controller in the chassis-unit controller is designed based on the Ackerman geometry. The wheel-unit controller is designed based on the resolved velocity control method. The proposed control method makes it possible to keep the chassis in a horizontal position while the vehicle tracking its prescribed path on undulating area. Experimental results validate the effectiveness of the control method.
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