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Modeling the maneuvering of a vehicle

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International Applied Mechanics Aims and scope

A kinematic model of one- and two-link robotic vehicles with two or three steerable wheels is considered. A nonsmooth path in the form of an astroid enveloping the positions of the robot is planned. The motion of a two-link vehicle with such a trajectory is modeled. A numerical analysis of the dynamic of robots is performed determining the reactions of nonholonomic constraints

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Authors and Affiliations

  1. S. P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, 3 Nesterova St., Kyiv, Ukraine, 03057

    E. Ya. Antonyuk & A. T. Zabuga

Authors
  1. E. Ya. Antonyuk
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  2. A. T. Zabuga
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Correspondence to E. Ya. Antonyuk.

Additional information

Translated from Prikladnaya Mekhanika, Vol. 48, No. 4, pp. 105–117, July–August 2012.

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Antonyuk, E.Y., Zabuga, A.T. Modeling the maneuvering of a vehicle. Int Appl Mech 48, 447–457 (2012). https://doi.org/10.1007/s10778-012-0532-z

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  • DOI: https://doi.org/10.1007/s10778-012-0532-z

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