A Steering Algorithm of the MCU based Controller for Two-Wheel Drive Vehicles

초록

This paper proposes a signal-processing algorithm to apply two-dimensional information to two-wheeled vehicles. To transform two-dimensional information of the joystick to speed commands of two-wheeled vehicles, there need a proper converting technique. In this paper, we compare our two proposed algorithms based on a microcontroller system. One considers that two-dimensional signal as a vector has a magnitude and a direction. This method refers to given a lookup table and decides speed commands. The other divides two-dimensional coordinates into a front and rear value and a method, the speed commands to be transferred to two-wheel drive determines by adding calculated a front and rear value and a left and right value. Both control techniques are able to revolve around its central pivot and able to modify easily suitable speed ratio when the wheelchair is turning. Through experiments, we compare two proposed control techniques for two-wheeled vehicles and evaluate the usefulness.