TY - GEN
T1 - Motion analysis and feedforward control of a tail-slide vehicle
AU - Morinaga, Akihiro
AU - Svinin, Mikhail
AU - Yamamoto, Motoji
N1 - Publisher Copyright:
© 2015 IEEE.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - 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 of the Coulomb friction and the nonholonomic rolling constraints. We then show that, compare to model ignoring sliding, the turning radius of the vehicle can be made smaller by using the tail-slide. After revealing the realizability condition of the tail-slide, we construct a motion planning strategy for steady-state cornering by combining the tail-slide and nonholonomic motion maneuvers. The feasibility of the motion planning strategy is tested under simulation.
AB - 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 of the Coulomb friction and the nonholonomic rolling constraints. We then show that, compare to model ignoring sliding, the turning radius of the vehicle can be made smaller by using the tail-slide. After revealing the realizability condition of the tail-slide, we construct a motion planning strategy for steady-state cornering by combining the tail-slide and nonholonomic motion maneuvers. The feasibility of the motion planning strategy is tested under simulation.
UR - http://www.scopus.com/inward/record.url?scp=84962031524&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2015.7402848
DO - 10.1109/CDC.2015.7402848
M3 - Conference contribution
AN - SCOPUS:84962031524
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4041
EP - 4046
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -