Modeling of tire friction force of vehicle considering nonholonomic constraints

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Most motion planners for a vehicle often assume no-slipping and no-skidding in the context of nonholonomic motion planning. However, there actually exist slipping and skidding in practical situations and it is important to know the force between the tire and the contact plane considering slipping and skidding in the planning problem. In this paper, a Coulomb friction model of the tire friction force of vehicle is extended to nonholonomic constraints. In the modeling, the longitudinal and lateral tire friction forces are modeled corresponding to no slipping and no skidding constraints, respectively. A two directional model based on the maximum dissipation principle is also developed. Some typical movements of vehicles with the proposed friction force model are illustrated by simulations.

Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1178-1183
Number of pages6
ISBN (Electronic)9781479951994
DOIs
Publication statusPublished - Jan 1 2014
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: Dec 10 2014Dec 12 2014

Other

Other2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
CountrySingapore
CitySingapore
Period12/10/1412/12/14

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All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Morinaga, A., Svinin, M., & Yamamoto, M. (2014). Modeling of tire friction force of vehicle considering nonholonomic constraints. In 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 (pp. 1178-1183). [7064472] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARCV.2014.7064472