Path planning strategy of Distributed-driven articulated vehicle considering steering energy consumption
2022-01-0349
03/29/2022
- Event
- Content
- The over-actuated characteristic of distributed driving vehicle can be used to generate the yaw moment by the reasonable allocation of each wheel driving force, which can reduce the energy consumption in the process of vehicle handling. The dynamic model of articulated vehicle with the electric-hydraulic hybrid steering is established by integrating the differential steering of vehicle. In this paper, the dynamic programming method is used to study the energy consumption of articulated vehicle with electro-hydraulic hybrid steering, and the energy-saving effects under different operating conditions are compared and analyzed. And on this basis, the rule-based control steering strategy for the articulated vehicle is built which can be used on-line. The model of articulated vehicle is established based on ROS platform, and tentacle algorithm is used for path planning of articulated vehicles. The stability and handling energy consumption of the vehicle are calculated for each tentacle trajectory. The candidate trajectory of articulated vehicle is selected by the multi-objective method which is used for optimal path of articulated vehicle.
- Citation
- Niu, T., Shen, Y., and Bin, X., "Path planning strategy of Distributed-driven articulated vehicle considering steering energy consumption," SAE Technical Paper 2022-01-0349, 2022, .