—— This paper describes the preliminary research and implementation of an experimental test bench set up for an electric vehicle Antilock Braking System (ABS)/Traction Control System (TCS) representing the dry, wet and icy road surfaces. A Fuzzy logic based controller to control the wheel slip for electric vehicle antilock braking system is presented. The test facility comprised of an induction...

The in-wheel electric vehicle is expected to be a popular next-generation vehicle because an in-wheel system can simplify the powertrain and improve driving performance. In addition, it also has an advantage in that it maximizes driving efficiency through independent torque control considering the motor efficiency. However, there is an instability problem if only the driving torque is controlle...

This paper focuses on the design of power management strategy for four-wheel independent drive electric vehicles (4WID EVs). Since the efficiency of the motor and inverter is different under different driving conditions, genetic algorithm based optimal energy management strategy is proposed to maximize the efficiency of motor drive systems. Not only the efficiency of motor, but also the efficie...

This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking sp...

A differentially steered three-wheeled vehicle has proven to be an effective platform for outdoor navigation. Many applications for this vehicle configuration, including planetary exploration and landmine/UXO location, require accurate localization. In spite of known problems, odometry, also called dead reckoning, remains one of the least expensive and most popular methods for localization. Thi...

Title of Document: IMPLEMENTATION OF KALMAN FILTER TO TRACKING CUSTOM FOUR-WHEEL DRIVE FOUR-WHEEL-STEERING ROBOTIC PLATFORM

This work presents a method for online path planning based on graph traversal for autonomous mobile systems. A method using the Voronoi diagrams of obstacle dense areas for efficient planning is proposed. This method creates collision free paths for the vehicle in a receding horizon fashion on a per time-step basis, for environments where no prior map data is available. Simulation results of th...

Aiming at the yaw stability problem of a four-wheel independent-drive electric vehicle (EV) during steering, this paper proposes an adaptive sliding mode control strategy (ASMC) for based on phase plane. The adopts hierarchical control. upper layer is ASMC controllers particle swarm optimization (PSO). chattering controller, approach law designed as law, which changes with change system state b...