A Novel Approach to Nested Closed-Form Dynamics Modeling and Recursive Planning for Modular Distributed Electric Drive Vehicles

To satisfy the heavy transport tasks for oversized items, enhancing the flexibility and maneuverability of modular transport platforms, to prevent interference during unit coordination in the transport process, which could lead to stress damage to cargo or major safety incidents like platform rollover or tipping, this paper proposes a dynamics modeling method applicable to distributed electric drive multi-axle vehicles. In this approach, the mathematical analytical form of the vehicle configuration can be obtained without introducing extra auxiliary variables, increasing the model's generality and applicability, providing an effective approach to the modeling problem of vehicles with expandable configurations. The proposed control method adheres to recursive characteristics, utilizing recursive task decomposition and coordinated control to achieve the breakdown from overall vehicle motion tasks to individual unit tasks, converting the complex control issues of multiple intelligent units into a unit control problem with modular layer-by-layer nesting, supporting the coordinated control of scalable configurations.