六轮独立驱动无人车下位机控制系统研究

Lower-computer Control System Research of Six-wheel Independent Drive Unmanned Vehicle

随着无人车对高速运动下的定位、导航精度要求的提高,对车辆控制系统的实时性和可靠性提出了更高的要求。该文基于一种六轮独立驱动车进行了运动学建模,并开发了VxWorks嵌入式下位机控制系统。对车辆的实验论证结果表明该车辆可按照指令快速进行相应的运动。

With an increasing demand for both high speed movement location and navigation accuracy, it puts forward high request toward vehicles＇ real-time property and reliability. Base on the six-wheel independent drive vehicle, this article analyzes the kinematical modeling, and develops the VxWorks embedded control system. Finally, the control system is tested through experiments, and results show that the vehicle could finish the movement according to command rapidly.