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Tire Models for Studies of Wheeled Mobile Robot Dynamics on Rigid Grounds – A Quantitative Analysis for Longitudinal Motion

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Recent Advances in Systems, Control and Information Technology (SCIT 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 543))

Abstract

The work is concerned with quantitative analysis of tire models from the point of view of their use in studies of dynamics of lightweight wheeled mobile robots. The analyses are carried out for the four-wheeled skid-steered mobile robot dedicated for investigations of robot kinematics and dynamics. Robot kinematics and definitions of parameters describing wheel slips are discussed. Two tire models selected for the quantitative analysis are presented. The model of robot dynamics used during studies which allows simulation of longitudinal motion enhanced with drive unit model is described. Within work, simulation investigations of the full vehicle with successively connected different tire models are conducted. Results of simulations are benchmarked against data obtained during experiments with the real mobile robot.

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Acknowledgements

The work has been realized as a part of the project entitled “Dynamics modeling of four-wheeled mobile robot and tracking control of its motion with limitation of wheels slip”. The project was financed from the means of National Science Centre of Poland granted on the basis of decision number DEC-2011/03/B/ST7/02532.

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Authors and Affiliations

  1. Industrial Research Institute for Automation and Measurements PIAP, Al. Jerozolimskie 202, 02-486, Warsaw, Poland

    Przemysław Dąbek

  2. Institute of Vehicles, Warsaw University of Technology, Narbutta 84 Street, 02-524, Warsaw, Poland

    Maciej Trojnacki

Authors
  1. Przemysław Dąbek
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  2. Maciej Trojnacki
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Correspondence to Przemysław Dąbek .

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Editors and Affiliations

  1. Industrial Research Institute Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Dąbek, P., Trojnacki, M. (2017). Tire Models for Studies of Wheeled Mobile Robot Dynamics on Rigid Grounds – A Quantitative Analysis for Longitudinal Motion. In: Szewczyk, R., Kaliczyńska, M. (eds) Recent Advances in Systems, Control and Information Technology. SCIT 2016. Advances in Intelligent Systems and Computing, vol 543. Springer, Cham. https://doi.org/10.1007/978-3-319-48923-0_44

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  • DOI: https://doi.org/10.1007/978-3-319-48923-0_44

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48922-3

  • Online ISBN: 978-3-319-48923-0

  • eBook Packages: EngineeringEngineering (R0)

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