Penglei Dai

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The aim of this paper is to investigate the possibility of developing a system where forces at the wheels of a ground vehicle are controlled to guide the vehicle along a predetermined path. Any deviations from the desired path is handled using Bézier curve segments that put the vehicle back on track. The Bézier curve segments determine the(More)
This paper presents a methodology to optimize the drive forces and steering angles for achieving accurate path tracking by a four wheel steer and four wheel drive (4WS4WD) vehicle. The 7-order Bézier curves are applied in path planning and online tracking, and used to obtain the kinematic and dynamic profiles for the guidance of vehicle. The 8-input(More)
The aim of this paper is to develop a system where forces at the wheels of a ground vehicle are controlled to guide the vehicle along a planned path. The 7-order Bézier curves are applied to path planning and online path tracking, and used to obtain profiles of velocities and accelerations for the guidance of a 4WS4WD vehicle. The dynamic model used(More)
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