A new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles is validated via experiments with an actual passenger vehicle. Contrary to common static friction/slip maps, this new dynamic friction model is able to accurately capture the transient behavior of the friction force observed during transitions between braking and acceleration. A velocitydep...

This paper describes an algorithm to calculate near-optimal minimum time trajectories for four wheeled omnidirectional vehicles, which can be used as part of a high-level path planner. The algorithm is based on a relaxed optimal control problem. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The low computational complex...

Many tasks examined for robotic application like rescue missions or humanitarian demining require a robotic vehicle to navigate in unstructured natural terrain. This paper introduces a motion control for a four-wheeled offroad vehicle trying to tackle the problems arising. These include rough ground, steep slopes, wheel slippage, skidding and others that are difficult to grasp with a physical m...

This work describes multibody modelling and multi-objective optimization of a six-wheeled vehicle and its motion controllers. Compliant contact models are used in order to suitably represent the rolling/slipping regime at the wheelterrain interaction. The multibody dynamic simulation model simulates multiple cases of the vehicle travelling on a soft terrain. The parameters of this model can be ...

This paper develops methodologies for an adaptive robust path tracking control of a nonholonomic Wheeled Mobile Robot (WMR) with nonlinear driving characteristics and unknown dynamic parameters. To solve the problem of position/orientation tracking control of WMR, a novel robust kinematics control law is developed to steer the vehicle to asymptotically follow the desired trajectories. To compen...

The project focuses on the effects of visual delay on human controllers of remote artefacts. A review of the current literature has been carried out. A pilot experiment with thirty participants has been completed. The experiment consisted of a remotely controlled, wheeled vehicle being driven along a track towards a target. The vehicle had a video camera mounted on it from which images were sen...

We consider active gyroscopic stabilization of unstable bodies such as two-wheeled monorails, twowheeled cars, or unmanned bicycles. It has been speculated that gyroscopically stabilized monorail cars would have economic advantages with respect to birail cars, enabling the cars to take sharper curves and traverse steeper terrain, with lower installation and maintenance costs. A two-wheeled, gyr...

Abstract Three-wheeled vehicles are transport means which generally combine properties of two-wheeled (principal motorcycles) and four-wheeled (standards cars). have been designed manufactured as units made up one front wheel two rear wheels, powered by an electric drive-train, referred to in some countries under a non-English term E-3kolka. These also comprise special steering mechanism improv...

We present an algorithm for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion, suspension, and motion for any type of vehicle. Efficiency is achieved by using fast numerical optimization techniques and effective initial guesses for the vehicle cont...

An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion, suspension, and motion for any type of vehicle. Efficiency is achieved by using fast numerical optimization techniques and effective initial guesses for the vehicle co...