Authors: Brembeck, Jonathan and Ho, Lok Man and Schaub, Alexander and Satzger, Clemens and Tobolar, Jakub and Bals, Johann and Hirzinger, Gerhard
22nd IAVSD International Symposium on Dynamics of Vehicle on Roads and Tracks, Manchester, Great Britain
This paper outlines the development of the ROboMObil, an innovative electro-mobility concept based on intelligent central control of four Wheel Robots, which integrate the drivetrain, brakes, steering and dampers. The motivation behind the Wheel Robot concept, the implementation details together with the suspension design are described. The electric power system, consisting of a Li-Ion battery cluster to provide high-voltage power for propulsion and a low-voltage supply for vehicle control, is also discussed. Finally, we provide an overview of the Shared Autonomy control architecture and an outlook on the future research projects based on this demonstrator platform.