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A driver assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize the turning performance and realize the collision avoidance simultaneously under the constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for...
Autonomous surface vehicle (ASV) is a versatile marine vehicle developed to fulfill complexity requirement of wide range offshore activities. Currently, ASVs are primarily developed based on the conventional surface vessel design in term of body structure and maneuverability capability. One of the today's ASV research interests is swarming application. The conventional ASV design has a limitation...
Aimed at the problem that it is easy for buses to roll in the extreme-turn conditions, the paper finished a series of analysis. First, bus turning driving dynamics model was established based on the effect of suspension motion on roll angle. In the extreme-turn conditions Roll stability and critical roll angle threshold were analyzed, and formulas of roll angle prediction and roll angle threshold...
Conventional motion planners for wheeled vehicles often attempt to prevent wheel slipping or even assume no-slipping condition. However, in some practical situations slipping can be useful. The purpose of this work is construct a motion planning strategy for tail-slide vehicles where the rear wheel is slipping. First we develop a dynamic model of a four-wheeled vehicle by combining an extended 2D-model...
The paper is focused on investigating the stiffness characteristic of a hydraulic assisted turning system in low-floor trams. Equations to illustrate the operating processes of the simplified and the completed systems are presented respectively. Simulation works done in Matlab/Simulinkshow that the throttle valve and damping cylinder will reduce the stiffness of the system. The results also display...
Energetic efficiency is a key limiting factor of hovering UAVs. Equipping a quadrotor with low-friction wheels allows it to exploit efficient rolling locomotion to travel long distances on smooth surfaces — common in human environments. A novel feature of this approach is the use of skateboard steering trucks that use lateral tilt to affect steering. This allows existing quadrotor flight controls...
Serpentine tracked robots -i. e., articulated multi-tracked vehicles -are designed to move on rough terrains and used for a variety of purposes, including search and rescue operations, planetary exploration and environmental investigations. The steerability of such vehicles depends on its posture and interaction between the vehicle and the ground. In previous research, kinematic models with slip information...
A virtual flexible curved bar coupled with force delay algorithm is proposed for automatic vehicle following, aiming at improving the accuracy of vehicle trajectory tracking, especially when leader vehicle is accelerating or making turns. A virtual flexible curved bar with force delay has been modeled that connects the leader to the follower. The length of this virtual bar is a function of the turning...
The steering radius and the vehicle velocity is utilized to control the drive force and steering angle of each electric-wheel in this essay. In order to improve the characteristics of vehicle, a dynamic simulation was made with the predictions of constant velocity and radius to the vehicle model with the R-v control strategy. This simulation proves that the characteristics of vehicle steering will...
Nowadays, Underwater Vehicles are widely used in ocean environment monitoring, ocean resources exploration and military areas. Therefore, it is required for Underwater Vehicles to have longer work time, wider work space, and what's more, it is also required for Underwater Vehicles to have the ability to move agilely and locate accurately. Aiming at those problems, the paper proposes a new hybrid propulsion...
Skid-steered vehicles are favored for military use in off-road operations because of their high maneuverability and mobility on extreme terrains and obstacles. There is a trend towards transforming steered tracked vehicles to skid-steered wheel vehicles for high speed at the expense of reduced mobility. Skid-steered vehicles turn by generating different longitudinal forces at the tires due to the...
Based on the six-freedom-degree model of four-wheel-drive electric vehicles, the fail-safe problem of (Electric Power Steering system) EPS is analyzed, and an EPS fail-safe strategy based on state observer is proposed in this paper. When EPS failed, by detecting the cornering angle of the steer wheel or the torsion of the steer wheel, the yaw rate command can be estimated. The vehicle's body is forced...
This paper proposes an optimal traction force distribution for omni-directional four wheel independent steering (4WIS) and four wheel independent drive (4WID) vehicle. The proposed force distribution algorithm is aimed to enhance the vehicle stability with minimum cost. The algorithm avoids the use of any feedback information of vehicle motion such as linear velocity as this information is difficult...
Air cushion vehicle (ACV) is a type of high performance watercraft. ACV can be propelled forward over the water, the ground and swale. It is widely used in both the civilian and military. Its operation is very different from general ships because of the structural particularity. We designed PID controller and neural net (NN) controller used for ACV heading control. Simulation results show that NN...
The development of assistive technologies, especially mobility devices, has an important impact on the daily activities and social participation of elderly people. The authors have developed a new mobility aid, ldquoTread-Walkrdquo, which extends mobility activities, maintains body function and maintains natural walking appearance. In the current research, we designed and developed a more natural...
Energy is the bedrock of our daily lives and industry. Now is the time that industry, government and academia must join together and examine highly independent, fully environmentally considerate and rational energy systems. In this presentation, recent Japanese policy will be introduced focusing on new national energy strategy. Looking at future technology trends, it is probable that, in the case...
In this paper we introduce a visualization application for a vehicle simulation with an automatic pilot. The application is written in OpenGL and includes a model of a vehicle (a motorcycle) based on the physical laws of motion, including kinematics, gravitation, and friction. The vehicle can be controlled by the user through keyboard and mouse commands, as well as by an automatic pilot. The latter...
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