抄録
Omni-directional vehicles are good at narrow space because these can move toward arbitrary direction. Especially, these robots that steer and drive independently can work on uneven ground better than the robot using special wheels which is omni-wheel and mecanum wheel. In this study, we use the coaxial steering vehicle. This robot is equipped with four coaxial steering mechanisms. There are two steering actuators on one axis in the coaxial steering mechanisms. The two steering mechanisms have different range of movement and maximum angular velocity. In the previous study, the coaxial steering mechanism was controlled by model predictive control which was subject to these features as the constraints. However, tracking performance was not verified in the previous study. In this paper, we verified availability of the model predictive steering control for the coaxial steering vehicle by tracking control in numerical simulation.
