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Control system for unmanned transport electric vehicles based on microwave Doppler sensors
https://doi.org/10.32446/0368-1025it.2022-2-66-72
Abstract
The control of unmanned electric cars in the premises has been studied. The problem of ensuring the exact correspondence of control signals to the real movement of vehicles in space is considered. Based on the analysis of the dynamic model of an electric car, it was found that the main causes of errors are the indirect nature of measuring the speed of this vehicle using odometers. To solve this problem, it was proposed to use microwave Doppler sensors of the linear speed of the wheels, the readings of which no longer depend on the slip, mass of the electric car, tire pressure, and other parameters. Formulas have been derived that allow the Doppler frequencies of the sensors to determine the current speed and steering angle of control of an electric car using the Ackermann condition. Based on them, a stable traffi c control system along a given route has been developed, which can be used in robotic transport systems.
About the Author
D. V. Khablov
V. A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences
Russian Federation
Russian Federation
Dmitry V. Khablov
Moscow
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Review
For citations:
Khablov D.V. Control system for unmanned transport electric vehicles based on microwave Doppler sensors. Izmeritel`naya Tekhnika. 2022;(2):66-72. (In Russ.) https://doi.org/10.32446/0368-1025it.2022-2-66-72
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