1 Introduction 1 1.1 Research Background 1 1.2 Literature Review for Electric Mobility 2 1.3 Problem Statement and Contribution Points 4 1.4 Outline of Dissertation 5 2 Categorization of Electric Mobility 6 3 Proposed Algorithm and Verication Map for Intelligent Driving 10 3.1 Comprehensive Driving Algorithm 10 3.2 Overview of Verication Methods 11 4 Longitudinal Driving Verication (Case Study I) 13 4.1 High Accuracy Velocity Achievement Based on Slip Ratio Control (SRC) on the Icy Field 13 4.1.1 Design of Stone Throwing Robot for Curling 14 4.1.2 Two Dimensional Driving Control for Stone Throwing Robot on the Ice 18 4.1.3 Experimental Verication of Precise Driving Control 23 4.1.4 Conclusion of the Stone Throwing Robot 26 4.2 Straight Driving Control in Terms of Safety on the Uneven Road 28 4.2.1 Motion Reference Generation for a Powered Wheelchair using Joystick Based on Intuitive Locomotion Mode 30 4.2.2 Control Algorithm Considering Intuitive Wheelchair Locomotion Mode 34 4.2.3 Experimental Verication 40 4.2.4 Conclusion of Powered Wheelchair 46 4.3 Reshaping Motion Reference for Riding Comfort in Straight Driving Control 46 4.3.1 Acceleration/Deceleration Modication in the Longitudinal Mode for Comfortable Driving 46 4.3.2 Conclusion of the Motion Reference Modication 47 5 Steering Motion Verication (Case Study II) 50 5.1 Stable Yaw Motion Control for Trajectory Tracking in Icy Field 50 5.1.1 System Conguration of Sweeping Robot 51 5.1.2 Side Slip Angle Estimation Based on Caster Steering Moment 55 5.1.3 Simulation and the Experimental Results 59 5.1.4 Conclusion of the Sweeping Robot 64 5.2 Trajectory Generation for Human-friendly Movement in Yaw Motion Control 64 5.2.1 Development of Caddie Robot and Driving Strategy 66 5.2.2 Operation Mode Based Driving Algorithm 70 5.2.3 Experimental Verication 77 5.2.4 Conclusion of the Caddie Robot 80 5.3 Reference Modication to Improve Steering Feeling in the High Lateral Fiction Field 81 5.3.1 Mathematical Model of the Double Universal Joint 84 5.3.2 Verication of the Steering Wheel Torque Mathematical Model 92 5.3.3 Steering Feeling Improvement Control based on the Mathematical Model 97 5.3.4 Conclusion of the Steering Feeling Improvement 99 5.4 Safety Driving using Model Predictive Control in the Steering Motor Fault Condition 100 5.4.1 Proposed Model Describing the Motion State of Electric Mobility 100 5.4.2 Simulation Results 102 6 Conclusions and Future Outlook 105 6.1 Conclusions 105 6.2 Future Outlook 106 Bibliography 107
