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Dynamics of car-like robots with trailers, application to skid and jack-knife
- Source :
- 2015 4th International Conference on Electrical Engineering (ICEE).
- Publication Year :
- 2015
- Publisher :
- IEEE, 2015.
-
Abstract
- In this paper, we present a dynamic model for simulating a car-like robot with trailer taking into account suspension system and tires deformations. The model describing the wheel/ground contact is a linear model and the joint tractor/trailer is modeled as a spherical-joint. The obtained results are compared with those given by the Pc-Crash software. We noted a good correlation for various scenarios. Furthermore, the proposed model has been successfully applied to study the unbalanced braking in a straight line and the jack-knife problem.
Details
- Database :
- OpenAIRE
- Journal :
- 2015 4th International Conference on Electrical Engineering (ICEE)
- Accession number :
- edsair.doi...........aba8f172f425186fca668bb1aa03d390