Motion analysis and feedforward control of a tail-slide vehicle

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

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

Abstract

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.

Original languageEnglish
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4041-4046
Number of pages6
ISBN (Electronic)9781479978861
DOIs
Publication statusPublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Morinaga, A., Svinin, M., & Yamamoto, M. (2015). Motion analysis and feedforward control of a tail-slide vehicle. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 4041-4046). [7402848] (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402848