Modeling of tire friction force of vehicle considering nonholonomic constraints

Akihiro Morinaga, Mikhail Svinin, Motoji Yamamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1178-1183
ページ数6
ISBN(電子版)9781479951994
DOI
出版ステータス出版済み - 2014
イベント2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, シンガポール
継続期間: 12 10 201412 12 2014

出版物シリーズ

名前2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014

その他

その他2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Countryシンガポール
CitySingapore
Period12/10/1412/12/14

All Science Journal Classification (ASJC) codes

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

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