Force Controlled Ground Vehicles

Project Details

This project develops control methodologies that will determine the drive forces of a vehicle so that it can be directed to follow a path accurately despite the changes in terrain conditions.

The prototype being developed is a four wheel steer four driven system with full 6D force sensors at each wheel. These force sensors will enable the initial development of lateral and longitudinal force modelling as well as rolling resistance modelling and they validation through direct measurement of forces.

At a later stage the force vectoring at the driven wheels through independent steering will be used to navigate the vehicle to follow a predefined trajectory under varying terrain conditions.

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