TY - JOUR
AU - Lee, Dong-Hee
AB - This paper introduces a novel control method for precise position and motion of Brushless DC (BLDC) motors in a self-driving indoor vehicle, enabling it to track arbitrary curve paths without relying on absolute space position detection sensors such as global positioning system (GPS) or Beacons. The target system is a two-wheel driving setup using in-wheel type BLDC motors, where motion and instantaneous position adjustments are facilitated solely by the Hall position sensors embedded in each motor, without additional space positioning sensors. Due to the inherent slip between the wheels and the road surface, the calculated trajectory derived from motor positions via hall position sensors often deviates from the actual vehicle trajectory. To address this discrepancy in trajectory tracking and positioning errors, an estimated instantaneous heading angle is utilized to compensate for the actual moving length and trajectory. By comparing the heading angle error between the reference tracking trajectory and the estimated instantaneous heading angle, adjustments to the motion reference minimize both the moving distance error and path tracking error. To validate the effectiveness of the proposed compensation and tracking method, a practical indoor autonomous mobile robot (AMR) was tested on an arbitrary curve path. Through repeated experiments, the proposed method demonstrated reduced errors in moving distance and improved performance in tracking the curve path compared to the conventional positioning method.
TI - A Precise Position Control of Self-Driving Vehicle by BLDC Motors at Arbitrary Curve Path
JF - Journal of Electrical Engineering and Technology
DO - 10.1007/s42835-024-02002-7
DA - 2024-11-01
UR - https://www.deepdyve.com/lp/springer-journals/a-precise-position-control-of-self-driving-vehicle-by-bldc-motors-at-nlvPLSOgL0
SP - 4883
EP - 4893
VL - 19
IS - 8
DP - DeepDyve
ER -