X-by-wire Unmanned Ground Vehicles (UGVs) have been attracting increased attention for various civilian or military applications. The x-by-wire techniques (drive-by-wire, steer-by-wire, and brake-by-wire techniques) provide the possibility of achieving novel vehicle design and advanced dynamics control, which can significantly improve the overall performance, maneuverability, and mobility of the UGVs. However, there are few full x-by-wire UGVs prototype models reported in the world. Therefore, there is no book that can fully describe the design, configuration, and dynamics control approach of full x-by-wire UGVs, which makes it difficult for readers to study this hot and interesting topic.
In this book, we use a full x-by-wire UGV, developed by our group, as the example. This UGV is completely x-by-wire with four in-wheel motors driven and a four-wheel independent steer steer. In this book, the overall design of the UGV, the design of the key subsystems (battery pack system,in-wheel motor-driven system, independent steer system, remote and autonomous control system), and the dynamics control approach will be introduced in detail, and the experiment's results will be provided to validate the proposed dynamics control approach.
Jun NI received his B.E. in mechanical engineering from Beijing Institute of Technology, Beijing, China, in 2013. He is currently a Ph.D. candidate with the school of Mechanical Engineering at Beijing Institute of Technology. He is also a visiting Ph.D. student in Vehicle Dynamics and Control Lab at University of California, Berkeley. Jun's research interest is the intelligent control for the UGV or mobile robots. He has published over 40 papers and holds 10 Chinese patents in this field. He served as the President of the BIT Special UGV Innovation Center and BIT Formula Student Racecar team. He is the co-organizer of several international conferences, such as the special workshop of the IEEE Intelligent Vehicle Symposium and the special workshop of the 19th APAC SAE Congress. Jun won the National Award of Science and Technology for Youth in 2013, which was awarded by the Vice President of China. He was selected into the National Support Program for Youth Talent in 2016, which was awarded by the China Association for Science and Technology.Jibin Hu received his B.E. in mechanical engineering from Beijing Institute of Technology, Beijing, China in 1992, and his Ph.D. from Beijing Institute of Technology in 2003. He is currently a professor at Beijing Institute of Technology. He currently serves as the Vice Dean of School of Mechanical Engineering at Beijing Institute of Technology. Jibin's research interest includes vehicle transmission system design and control, vehicle dynamics and control, as well as autonomous vehicle control. He has published over 80 papers and got over 20 Chinese and international patents in these fields. He is currently serving as the vice director of the Chinese National Vehicle Transmission System Key Lab. He is also served as the advisor of the BIT Formula Student Racecar team. He has been the co-organizer of many international conferences, including the IEEE Transportation Electrification Conference of ASIA-PACIFIC. He has been supported by the program for New Century Excellent Talents in Chinese Universities and has won the National Science and Technology Reward.Changle Xiang received his Ph.D. in Beijing Institute of Technology in 2002. He is a currently a professor at Beijing Institute of Technology. He serves as the Vice President of Beijing Institute of Technology. Changle's research interests include vehicle transmission system design and control, vehicle dynamics and control, as well as autonomous vehicle control. He is a famous scholar in this field in China, and has published over 100 papers and holds over 40 Chinese and international patents. His research efforts have been widely used in many types of the automobiles in China, especially military vehicles. He is currently serving as the director of the National Vehicle Transmission System Key Lab and the Autonomous Vehicle Platform Key Lab of Ministry of Industrialization and Information Technology. He has served as the organizer of many international conferences, and the director of the Off-Road Vehicle Branch of SAE China. He has been elected to the Changjiang Scholar since 2004 and has won the National Science and Technology Reward, National Technology Invention Reward multiple times.
