Development and Performance Enhancement of an Overactuated Autonomous Ground Vehicle

Yiwen Huang, Fengchen Wang, Ao Li, Yue Shi, Yan Chen

Research output: Contribution to journalArticlepeer-review


To further enhance the safety, energy efficiency, and riding comfort of autonomous ground vehicles (AGVs), an overactuated AGV (OA-AGV) driven by four in-wheel motors and two steering motors is developed. Benefitted from the overactuation, three main advantages of the OA-AGV over conventional AGVs are demonstrated in this article. First, the lateral stability of the OA-AGV can be significantly enhanced with the additional rear wheel steering system. Second, the energy consumptions of the OA-AGV are reduced for lateral maneuvers compared with a conventional AGV with only front wheel steering. Third, the riding comfort of the OA-AGV, described by the lateral acceleration and jerk in lateral maneuvers, can also be improved. To evaluate and validate these three advantages of the OA-AGV, both simulation and experimental results are demonstrated and discussed. The conclusion is that the redundant actuators, together with sensor fusions and path planning strategies, can significantly enhance the capabilities and potentials of AGVs on safety, energy efficiency, and riding comfort.

Original languageEnglish (US)
Article number9103612
Pages (from-to)33-44
Number of pages12
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
StatePublished - Feb 2021


  • Autonomous ground vehicles (AGVs)
  • energy efficiency
  • lateral stability
  • overactuated (OA)
  • riding comfort

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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