Motion of an Articulated Vehicle with Two-Dimensional Sections Subject to Lateral Obstacles

Some aspects of the geometry, kinematics, and dynamics of a three-section robotic vehicle with a front steerable wheel are studied. The constraints between the wheels and the flat ground are assumed nonholonomic. The vehicle moves in a narrow L-shaped corridor. A path for the characteristic points o...

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Bibliographic Details
Published inInternational applied mechanics Vol. 52; no. 4; pp. 404 - 412
Main Authors Antonyuk, E. Ya, Zabuga, A. T.
Format Journal Article
LanguageEnglish
Published New York Springer US 01.07.2016
Springer
Springer Nature B.V
Subjects
Analysis
Applications of Mathematics
Classical Mechanics
Constraints
Driverless cars
Kinematics
Physics
Physics and Astronomy
Robotic vehicles
Robots
Vehicle wheels
planned path
three-section robotic vehicle
L-shaped corridor
dynamic model
nonholonomic system
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ISSN1063-7095
1573-8582
DOI10.1007/s10778-016-0765-3

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Summary:Some aspects of the geometry, kinematics, and dynamics of a three-section robotic vehicle with a front steerable wheel are studied. The constraints between the wheels and the flat ground are assumed nonholonomic. The vehicle moves in a narrow L-shaped corridor. A path for the characteristic points of the sections of the robot is designed. A dynamic model of the system is developed. The maximum possible dimensions of the robot that allow its unimpeded and non-stop motion are determined. The kinetostatic analysis of the load on a three-section vehicle moving along a planned path is modeled. The holonomic and nonholonomic constraint reactions between the wheels and the ground and in the joints between the sections are determined
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ISSN:1063-7095
1573-8582
DOI:10.1007/s10778-016-0765-3