| 摘要 |
PURPOSE: To efficiently control a wheel type omnidirectional vehicle(ODV) by describing its motion on a relative coordinate system fixed to the ODV itself. CONSTITUTION: Wheels for driving are connected through offset links, which can be respectively independently steered, to respective four apexes on the car body of an ODV 20. Since these offset links exist, even when the car body is set in a standstill state, respective wheels can be steered without cutting their ends. The relative coordinate system defined by an advancing velocity(v), turning radius ρ and angle ϕ formed by the lateral axis of the car body and the advancing direction is provided at the center of the car body and the motion of the ODV is designated corresponding to these relative parameters. The designated motion of the car body is converted to a timewise change (driving velocity) in displacement λ1 of wheels and a steering angle q1 of wheels by inverse dynamism and a correspondent control input is applied to the driving device of wheels. As a result, the acr body is turned with the turning radius ρ with a point oc as a center. Thus, control based on a control instruction with the car body itself as a reference is enabled. Besides, the driving velocity of the wheels and the measured result of the steering angle are converted to relative parameters by forward dynamism and the really performed action of the car body can be recognized. |
