Modeling of peat tractor semi-trailer motion
نویسندگان
چکیده
منابع مشابه
Exact Motion Planning for Tractor-Trailer Robots
A tractor-trailer robot consists of a carlike tractor towing a passive trailer. Due to its highly nonholonomic nature, the kinematics of this type of robot are complicated and di cult to compute. We present exact closed-form solutions for the kinematic parameters of a tractortrailer robot and use them to construct an exact and e cient motion planner in the absence of obstacles. This local plann...
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The rollover accidents in the tractor semi-trailer are often fatal and many factors could cause the tractor semitrailer rollover. In this paper, a rollover prevention control method was proposed based on real-time calculation of rollover index. The vehicle Center of Gravity CG height from the ground is an important parameter in the rollover index and it is estimated through lateral acceleration...
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In this paper, we consider active trailer steering control as a means to improve the maneuverability of (long) truck–trailer combinations during cornering. Hereto, we formulate the problem of reducing the so-called swept path width during cornering and that of eliminating unsafe tail swing of the trailer as a tracking control problem. We present a kinematic tractor–trailer model including off-a...
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The semi-trailer chassis was usually treated as rigid body in many existing literature, which would lead to larger deviation from actual situation. A rigid semi-trailer chassis model was built and flexiblized based on the modal test results in this paper. The tractor semi-trailer with flexible chassis was utilized to simulate the rollover scenarios on high speed obstacle avoidance under emergen...
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ژورنال
عنوان ژورنال: IOP Conference Series: Materials Science and Engineering
سال: 2021
ISSN: 1757-8981,1757-899X
DOI: 10.1088/1757-899x/1061/1/012026