A steering algorithm of the MCU based controller for two-wheel drive vehicles

This paper proposes a signal-processing algorithm to apply two-dimensional information to two-wheeled vehicles. To transform two-dimensional information of the joystick to speed commands of two-wheeled vehicles, there needs to be a proper conversion technique. In this paper, we compare our two proposed algorithms based on a microcontroller system. One considers that the two-dimensional signal as a vector has a magnitude and a direction. This method refers to a given lookup table and decides speed commands. The other divides two-dimensional coordinates into a front and rear value and a left and right value, and decides speed commands. In this method, the speed commands to be transferred to a two-wheel drive is determined by adding a calculated front and rear value and a left and right value. Both control techniques are able to revolve around its central pivot and able to easily modify a suitable speed ratio when the wheelchair is turning. Through experiments, we compare two proposed control techniques for two-wheeled vehicles and evaluate their usefulness.