Vehicle dynamic control of the robotic research platform robomobil

The RoboMobil is DLR’s space-robotics drive-by-wire electro-mobile research platform for mechatronic actuators, vehicle dynamics control, human machine interfaces, and autonomous driving (DLR = German Aerospace Center). Due to its four highly integrated identical Wheel Robots, it exhibits an extraordinary manoeuvrability even allowing for driving sideward or rotating on the spot. Topics related to vehicle dynamics control are addressed in this article.

Being a clean-sheet design, the ROMO explores the possibilities available for the future of mobility without the constraints applied by the modification of a conventional vehicle, making use of developments in intelligent systems from the field of robotics. With four mechanically independent modules, the ROMO allows the possibility of modifications to the chassis without affecting the powertrain, which is located completely in the two axle modules, with the actuators fully integrated within the Wheel Robots. The other modules are the body, which forms the structure of the vehicle and carries the cockpit, and the battery mounted beneath the cockpit floor. An intelligent robot control concept provides the ROMO with enhanced manoeuvrability.

The driver input can be given using a side-stick either from within the vehicle or via remote control. With the help of the integrated surround video cameras, the ROMO can be driven with various degrees of autonomy, from partial to fully autonomous.

The modular design comprising the front and rear chassis modules, battery module and body module with cockpit makes ROMO an ideal technology platform for innovative vehicle dynamics control and energy management research, and a demonstrator for the fusion of robotics and electro-mobility. With energy efficiency becoming increasingly critical in all forms of future mobility, much attention has been paid to the energy supply of the ROMO. As well as employing state of the art Li-Ion battery technology, much effort is being put into modelling and estimation of the behaviour of the batteries.