1A2-H06 Modeling and Stable Motion Control of Three Wheeled Vehicle(Wheeled Robot/Tracked Vehicle(2))
1A2-H06 3輪型ビークルのモデル化と安定移動制御(車輪型/クローラ型移動ロボット(2))

Hiroki Furuichi, Jian Huang, Takayuki Matsuno, Toshio Fukuda
2012 The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  
This paper proposes a dynamic model of general behavior using a new concep 七 Narrow Tilting Vehicle ( NTV ) . Qur NTV has one wheel on the front and two wheels on the rear . Also, it is very narrow and all three wheels will tilt to m 誼 e stable during turn. We derive three types of dynamic modeL One is the model when 烈 lthree wheels are on the grα lnd . Other two are the model when each right and lef し rear wheel Hoa. ts. These dynamic models are useful to eontrol the rea . l vehicle . Then ,
more » ... made simulations 七 〇 indicate the availability of our dynamic model . We also made some simulations to 副 idate our three dynamic models . Key Words ; Vehicle robot , Three wheeled vehicle
doi:10.1299/jsmermd.2012._1a2-h06_1 fatcat:ul5cx2pelfcobe5lhv4f42j34e