Modelling of a 4WS4WD vehicle and its control for path tracking

Autor:	Jay Katupitiya, Michael R. Woods
Rok vydání:	2013
Předmět:	Engineering Robot kinematics InformationSystems_INFORMATIONINTERFACESANDPRESENTATION(e.g. HCI) business.industry Control engineering Kinematics Propulsion Rigid body Vehicle dynamics Control system Motion planning Four-wheel drive business ComputingMethodologies_COMPUTERGRAPHICS
Zdroj:	CICA
DOI:	10.1109/cica.2013.6611677
Popis:	This paper presents a dynamic model representing the rigid body motion of a four wheel steer and four wheel drive (4WS4WD) vehicle which also takes into account the rotational dynamics of the individual wheels as well as the tyre terrain interactions. It also presents a modified pursuit algorithm taking into account the kinematic constraints as well as a decentralized wheel propulsion control system. Simulation results are presented to show the model validation and the successful implementation of the path tracking algorithm.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::9572d50544a9d9240bf6764641090f8b https://doi.org/10.1109/cica.2013.6611677 Zobrazit plný text záznamu