Traction/Braking Force Distribution Algorithm for Omni-directional All-wheel-independent-drive Vehicles
文献类型：会议论文
| 作者 | Lam Tin Lun; Yan Jingyu; Qian Huihuan; Xu Yangsheng |
| 出版日期 | 2013 |
| 会议名称 | 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 |
| 会议地点 | Karlsruhe, Germany |
| 英文摘要 | In this paper, a traction/braking force distribution algorithm for omni-directional all-wheel-independent-drive vehicles is proposed as a tool to enhance driving stability. In the proposed algorithm, the amount of the traction or braking force on each driving wheel can be determined so as to generate a desired tangential force, yaw moment and centripetal force independently. The algorithm considers omni-directional steering command and is capable of handling both traction and braking force commands. The algorithm is applicable on vehicles with at least three independent driving wheels. Simulations have been conducted to illustrate the use of the proposed force distribution method in enhancing vehicles stability. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/4598]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2013 |
| 推荐引用方式 GB/T 7714 | Lam Tin Lun,Yan Jingyu,Qian Huihuan,et al. Traction/Braking Force Distribution Algorithm for Omni-directional All-wheel-independent-drive Vehicles[C]. 见:2013 IEEE International Conference on Robotics and Automation, ICRA 2013. Karlsruhe, Germany. |
入库方式： OAI收割
来源：深圳先进技术研究院
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