TY - GEN
T1 - Modeling of tire friction force of vehicle considering nonholonomic constraints
AU - Morinaga, Akihiro
AU - Svinin, Mikhail
AU - Yamamoto, Motoji
N1 - Publisher Copyright:
© 2014 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84949925040&partnerID=8YFLogxK
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U2 - 10.1109/ICARCV.2014.7064472
DO - 10.1109/ICARCV.2014.7064472
M3 - Conference contribution
AN - SCOPUS:84949925040
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 1178
EP - 1183
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Y2 - 10 December 2014 through 12 December 2014
ER -