Thread: paper: 4 wheel independent drive & independent steering ("swerve")
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Unread 05-01-2011, 23:30
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Re: paper: 4 wheel independent drive & independent steering ("swerve")
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Originally Posted by Ether View Post

The simplest approach is to control each wheel's speed and angle separately: make each wheel angle go to that wheel's angle setpoint, and each wheel's speed go to that wheel's speed setpoint. For the drivetrain stipulated in the paper in Figure 1 (unlimited steering and continuous wheel angle sensor with no gaps) this may well be perfectly adequate - if the steering motors are powerful enough to provide satisfactory response against the given floor material and wheel tread material.
Just uploaded a description of how to calculate shortest-path angle error and how to use it with LabVIEW PID.

http://www.chiefdelphi.com/media/papers/download/2858


Last edited by Ether : 06-01-2011 at 11:23. Reason: fixed broken link
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