Motion analysis and feedforward control of a tail-slide vehicle
Motion analysis and feedforward control of a tail-slide vehicle
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DOI：
10.1109/cdc.2015.7402848
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发表时间：
2015-02
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影响因子：
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通讯作者：
Akihiro Morinaga;M. Svinin;Motoji Yamamoto
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文献类型：
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作者：
Akihiro Morinaga;M. Svinin;Motoji Yamamoto
传统的轮式车辆运动规划器往往试图防止车轮打滑，甚至假设无打滑条件。然而，在某些实际情况下，滑动可能是有用的。本研究的目的是建立一个后轮滑移的后溜车的运动规划策略。首先，我们开发了一个四轮车辆的动力学模型，结合扩展的二维模型的库仑摩擦和非完整滚动约束。然后，我们表明，与忽略滑动模型相比，车辆的转弯半径可以通过使用尾部滑动而变得更小。在揭示了尾滑的可实现性条件后，将尾滑与非完整运动机动相结合，构造了稳态转弯的运动规划策略。仿真结果验证了运动规划策略的可行性。
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.