Autonomous joint vehicles are a subject of intensive research in robotics field and are extraordinary interesting from a theoretical point of view – they belong to unsteady, strongly nonlinear, lowly actuatored and non-holonomic systems and for their managing advanced algoritms of cybernetics are necessary.
By this representative physical model we can find a lot of partial interesting topics at the level from Bachalor´s thesis to Doctoral thesis. The model enables to a user a research and development of his own algoritms of autonomous driving. The typical result is autonomoous movement of whole set on certain trajectory that is easy to make virtualization. The most interesting challenge is to programme a reversing of model from the start to the aim, also with driving around some obstacles. For solution of such task is needy to design an suitable referential trajectory and then control managing that will keep the set on these trajectories. For this purpose advanced algorithms so called modern theory of management are used. They are especially from the optimal management field that is a part of study programme Control and Information Systems. To a physical model there is also an virtual model that can be understood as a digital twin. With a mathematical and physical model you can work at different levels, from a simulation in system Matlab&Simulink to a realization of managing algorithms in managing system REXYGEN running in a real time in an inbuilt device ( for example Rasberry Pi) that carries the trailer vehicle.
The set is equipped besides navigation system VivePRO SteamVR Base Station 2.0 by sensors:
- magnetic IRC for measuring joint angles and speed of vehicle
- detection and measuring distance 2D – LIDAR
and action participants:
- servomotor with high speed and accuracy for individual management of both front wheels
- inphase motor for movement of vehicle
