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The paper considers control problems of a group of frontsteering wheels kinematic nonholonomic vehicles with three wheels. The problems of driving the vehicles towards desired rigid and stringlike formations are considered. Special attention is given to the string stability problem and a control algorithm has been established for regulating propagation of disturbances through the vehicle string. Finally,...
This letter presents a new approach to tackle the problem of infinite chattering, observed at bang-singular junctions of the minimum-time trajectories of car-like robots with bounded angular acceleration control. To eliminate chattering from time-optimal control solutions, we propose to relax the ideal nonholonomic constraint of no-skidding. A proof is presented to demonstrate that this relaxation...
This paper deals with the idea of upgrading the current car parking assistants based on ultrasonic sensors to enable them to assist with backing-up with trailer attached to the car. Basic ideas, models and algorithms are presented in this paper. Although commercial solution of the trailer backing-up assistant is already on the market, this approach is unique in extending the use of ultrasonic sensors...
This paper considers the perpendicular parking problem of car-like vehicles for both forward and reverse maneuvers. A sensor based controller with a weighted control scheme is proposed and is compared with a state of the art path planning approach. The perception problem is threated as well considering a Velodyne VLP-16 as the sensor providing the required exteroceptive information. A methodology...
Front double wishbone independent suspension is built according to hard point parameters of a car. After the rubber bushing stiffness of lower control arm is changed, the suspension performance is analyzed and discussed with multi-body dynamics and Suspension Kinematics theory. The conclusion can be drawn as follows: when wheels are hoping, all the stiffness of lower control arm have no effect on...
Front double wishbone independent suspension is built according to hard point parameters of a car. After the rubber bushing stiffness of under arm is changed, the suspension performance is analyzed and discussed with multi-body dynamics and Suspension Kinematics theory. The conclusion is drawn that axial and torsion stiffness of rubber bushing has a little effect on the suspension performance, but...
An experiment system suitable for laboratory level is developed which can be used to analyze motions of 2 wheel driven car and simulate the performance of running control system. Although the system is manufactured corresponding to the structure and kinematics characteristic of gantry crane, other vehicle's running control algorithms can also be studied.
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