Anwendung der Omni-Kurven-Parameter zur Bestimmung der Aktor-Stellgrößen und universellen Bewertung der Bewegungsmöglichkeiten unterschiedlicher Fahrwerke

Abstract

Omni-Curve-Parameters (OCP) provide a basis for universally controlling arbitrary types of undercarriages. While systematically determining the yet undefined characteristic metrics therein, the method is now applied to various examples of traveling gears. Based on the developed equations, an analysis concerning the implications of limits in the actuating variables for piloting via OCP follows. A machine-usable description of the partly complex correlations is facilitated by three-dimensional representations of the permissible configuration space. These are suitable for use in the internal vehicle control system, as well as for prior path planning, especially in the context of AGVs.