DocumentCode
1834752
Title
Bond graph modeling of an over-actuated intelligent autonomous vehicle with decoupled steering wheel
Author
Bera, Tushar Kanti ; Samantaray, A.K. ; Merzouki, Rochdi ; Ould-Bouamama, B.
Author_Institution
Mech. Eng. Dept., Thapar Univ., Patiala, India
fYear
2012
fDate
11-14 Dec. 2012
Firstpage
624
Lastpage
629
Abstract
This article deals with modeling of an intelligent autonomous vehicle with four traction wheels, four braking wheels and four-wheel steering system. The bond graph model of the integrated vehicle dynamic system is developed in a modular and hierarchical modeling environment. The Ackerman steering concept was used in the steering motor controller. Simulation results show the advantages of four-wheel steering during tight maneuvers.
Keywords
bond graphs; mobile robots; motion control; steering systems; traction; vehicle dynamics; wheels; Ackerman steering concept; bond graph modeling; braking wheels; decoupled steering wheel; four-wheel steering system; hierarchical modeling environment; integrated vehicle dynamic system; modular modeling environment; over-actuated intelligent autonomous vehicle; steering motor controller; traction wheel; bond graph; four-wheel steering; intelligent autonomous vehicle;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on
Conference_Location
Guangzhou
Print_ISBN
978-1-4673-2125-9
Type
conf
DOI
10.1109/ROBIO.2012.6491036
Filename
6491036
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