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Mechatronics: Ideas, Challenges, Solutions and Applications pp 33–51Cite as

Requirements for Tire Models of the Lightweight Wheeled Mobile Robots

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 414))

Abstract

Tire models for vehicle dynamics studies have been developed for many years to suit the needs of automobiles and the automotive industry. Recently, the growing use of advanced simulation techniques in design of wheeled mobile robots calls for analysis of the possibility to use the existing automotive tire models in the wheeled mobile robots dynamics studies. This analysis is especially important in the case of the skid-steered lightweight mobile robots, which are very common type of design, but exhibit many differences in the tire–ground system as compared to a typical car. In the present work the differences between lightweight wheeled robots and automobiles are examined in the following areas: tires, environment, maneuvers, ways of control, and vehicle systems. The influence of the found differences on the tire–ground system is examined in detail. Finally, the requirements for the tire models of the lightweight wheeled mobile robots are formulated with emphasis on the requirements different than those for tire models of the automobiles.

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Acknowledgments

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 is 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, Warsaw, Poland

    Przemysław Dąbek & Maciej Trojnacki

Authors
  1. Przemysław Dąbek
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  2. Maciej Trojnacki
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Corresponding author

Correspondence to Przemysław Dąbek .

Editor information

Editors and Affiliations

  1. Lodz University of Technology, Lodz, Poland

    Jan Awrejcewicz

  2. Gdansk University of Technology, Gdansk, Poland

    Krzysztof J. Kaliński

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

    Roman Szewczyk

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

    Małgorzata Kaliczyńska

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Dąbek, P., Trojnacki, M. (2016). Requirements for Tire Models of the Lightweight Wheeled Mobile Robots. In: Awrejcewicz, J., Kaliński, K., Szewczyk, R., Kaliczyńska, M. (eds) Mechatronics: Ideas, Challenges, Solutions and Applications. Advances in Intelligent Systems and Computing, vol 414. Springer, Cham. https://doi.org/10.1007/978-3-319-26886-6_3

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  • DOI: https://doi.org/10.1007/978-3-319-26886-6_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26885-9

  • Online ISBN: 978-3-319-26886-6

  • eBook Packages: EngineeringEngineering (R0)

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