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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.
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