4WD Skid-Steer Trajectory Control of a Rover with Spring-Based Suspension Analysis Direct and Inverse Kinematic Parameters Solution

摘要

This manuscript provides a solution to the problem of four-wheel drive (4WD) kinematics and dynamics for trajectory control of an in-wheel motors rover. The rover is a platform built up in our laboratory, featured by its damper devices. The rover wheels' contact point have dynamic positions as effects of spring-based suspension devices damper. The tracking control is a four-wheel drive skid-steering (4WDSS) system, and we propose a motion control fundamentally defining a dynamic turning z-axis, which moves within the area of the four wheels' contact point. We provide a general solution for this mechanical design since the wheels' contact point displacement directly impacts the rover angular velocity. Furthermore, we introduce a model for inertial localization based on an arrangement of two accelerometers to define the rover position within a global inertial frame.