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.
Item URL in elib: | https://elib.dlr.de/62191/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||
Title: | Object-oriented modelling and control of vehicles with omni-directional wheels | ||||||||||||
Authors: |
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Date: | November 2009 | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
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 (old) | ||||||||||||
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 (until 2012) > System Dynamics and Control (former Control Design Engineering) | ||||||||||||
Deposited By: | Tobolar, Dr.(PH.D.) Jakub | ||||||||||||
Deposited On: | 13 Jan 2010 13:11 | ||||||||||||
Last Modified: | 31 Jul 2019 19:26 |
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