Bond Graph Modeling of an Over-actuated Intelligent Autonomous Vehicle with Decoupled Steering Wheel

Authors :: Arun Kumar Samantaray
B. Ould-Bouamama
Rochdi Merzouki
Tarun Kumar Bera
LAGIS-MOCIS
Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS)
Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)-Université de Lille, Sciences et Technologies-Centrale Lille-Centre National de la Recherche Scientifique (CNRS)
Source :: IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), Dec 2012, China. pp.6, ROBIO
Publication Year :: 2012
Publisher :: HAL CCSD, 2012.
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.

Language :: English
Database :: OpenAIRE
Journal :: IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), Dec 2012, China. pp.6, ROBIO
Accession number :: edsair.doi.dedup.....ceed978ff018bbad391d869deb86bf86

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