Thread created automatically to discuss a document in CD-Media.
Field-oriented control of 6WD robot
_Vehicle turns and goes in the field-centric commanded direction at the commanded speed.
Can be used with any skid-steer vehicle with separate control of right and left wheel speeds (eg 6WD).
Driver interface shown for single 2-axis joystick._
This is a proposal, complete with pseudo-code, of a driver interface for skid-steer vehicles which incorporates the gyro to allow the driver to issue field-centric commands.
The driver points the joystick, and the vehicle turns and goes in that direction at a speed determined by the magnitude of the joystick displacement.
gyro-guided skid-steer 1-29-2011.pdf (30.9 KB)
gyro-guided skid-steer 2-12-2011.pdf (34.6 KB)