Development of a robotic electrical vehicle with electronic differential

• Grant number: 14/02672-9
• Support Opportunities: Regular Research Grants
• Start date: June 01, 2014
• End date: November 30, 2016
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Ely Carneiro de Paiva
• Grantee: Ely Carneiro de Paiva
• Host Institution: Faculdade de Engenharia Mecânica (FEM). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil
• Associated researchers: André Ricardo Fioravanti ; Helio Azevedo ; Josué Junior Guimarães Ramos ; Luiz Gustavo Bizarro Mirisola ; Mauro Ferreira Koyama ; Samuel Siqueira Bueno
• Associated research grant(s): 16/50001-1 - Smart airships swarm and robotic ground electrical vehicles for environmental monitoring and surveillance, AP.R SPRINT

Abstract

A large amount of the scientific research in Mobile Robotics in the last years has focused in the development of autonomous urban vehicles, which supposes navigation in a structured environment like plane asphalt, allowing the knowledge of important variables and also simplifications with respect to the tire-ground force interactions. However, for the case of the control of all-terrain vehicles, like tractors, the knowledge of the adherence properties like slipping, skidding, trepidations and high slopes is very difficult and constitutes a great challenge for the scientific and technological research all over the world.One of these challenges is the approach of the distribution of torque/speed in the non-steerable wheels of a multitraction vehicle, known as electronic differential distribution. Most of the existing approaches of electronic differential just worries about imposing appropriate velocities for the wheels during a cornering and does not impose adequate torque distribution for the wheels in the complex tire-ground situations like slipping, skidding and lose of contact of one of the wheels.Firstly, this research project proposes the design of a scaled vehicle with electrical multitraction, instrumented with inertial navigation system INS/GPS, embedded system with CAN network, laser, camera and sensors for the wheels and motor currents.This vehicle will be used, during the period of this project, to test a new approach of electronic differential navigation in complex terrains with low adherence and high slopes. Later, it will be used to test and validate the design of nonlinear control techniques, as well as multisensory perception/navigation strategies that could be scaled to a real size vehicle.Finally, the resulting prototype will yield a synergic element for the three research institutions involved (UNICAMP, CTI, ITA). The mini-vehicle will make it easier the cooperative development between the partnerships, allowing it to be used in other different contexts of scientific investigation. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; FERREIRA, PAULO A. V.; DE PAIVA, ELY C.; BUENO, SAMUEL S.. Tire-Ground Forces Estimation in a 4-Wheel Vehicle Using a Delayed Interconnected Cascade-Observer Structure. IFAC PAPERSONLINE, v. 49, n. 15, p. 6-pg., 2016-01-01. (14/27240-4, 14/06610-8, 14/02672-9)

CORDEIRO, RAFAEL A.; VICTORINO, ALESSANDRO C.; AZINHEIRA, JOSE R.; FERREIRA, V, PAULO A.; DE PAIVA, ELY C.; BUENO, SAMUEL S.. Estimation of Vertical , Lateral , and Longitudinal Tire Forces in Four-Wheel Vehicles Using a Delayed Interconnected Cascade-Observer Structure. IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 24, n. 2, p. 561-571, APR 2019. (18/04905-1, 14/27240-4, 14/50851-0, 14/02672-9, 14/06610-8, 16/00693-4)

CORDEIRO, R. A.; RIBEIRO, A. M.; AZINHEIRA, J. R.; VICTORINO, A. C.; FERREIRA, P. A. V.; DE PAIVA, E. C.; BUENO, S. S.; IEEE. Road Grades and Tire Forces Estimation Using Two-Stage Extended Kalman Filter in a Delayed Interconnected Cascade Structure. 2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), v. N/A, p. 6-pg., 2017-01-01. (16/00693-4, 14/06610-8, 14/50851-0, 14/27240-4, 14/02672-9)