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Object-oriented modelling and control of vehicles with omni-directional wheels

Tobolar, Jakub and Herrmann, Florian and Bünte, Tilman (2009) Object-oriented modelling and control of vehicles with omni-directional wheels. Computational Mechanics 2009, 9.-11. Nov. 2009, Hrad Nectiny, Tschechische Republik.

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Abstract

Using omni-directional wheels for vehicles operating on flat ground enables high variability of the vehicle’s motion. The vehicle can perform longitudinal, lateral or diagonal movement or it can yaw i.e. rotate about its vertical axis. Any simultaneous combination of these base movements is possible as well. By virtue of the omni-directional wheels the prescribed motion of the vehicle is accomplished solely by applying different driving torques on each of the wheels - hence no wheel steering is necessary. In the paper an object-oriented approach for modelling of the complete vehicle will be presented. With this approach, different variants of the vehicle within various scenarios can be conveniently handled and investigated in simulations.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Object-oriented modelling and control of vehicles with omni-directional wheels
Authors:
AuthorsInstitution or Email of Authors
Tobolar, JakubUNSPECIFIED
Herrmann, FlorianUNSPECIFIED
Bünte, TilmanUNSPECIFIED
Date:November 2009
Status:Accepted
Keywords:omni-directional wheels, Modelica, object-oriented modelling, vehicle modelling, Mecanum wheels
Event Title:Computational Mechanics 2009
Event Location:Hrad Nectiny, Tschechische Republik
Event Type:national Conference
Event Dates:9.-11. Nov. 2009
Organizer:University of West Bohemia, Pilsen
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Assistenz für Verkehrsteilnehmer (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Dr.(PH.D.) Jakub Tobolar
Deposited On:13 Jan 2010 13:11
Last Modified:12 Dec 2013 20:50

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