Models, simulators and control strategies are required tools for the conception of secure and comfortable vehicles. The aim of this paper is to present an efficient way to develop models for dynamic vehicle, focusing on a two wheeled vehicles whose body involves six degrees of freedom. The resulting model is sufficiently generic to perform simulation of realistic cornering and accelerating beha...

In this paper, a construction of an efficient vehicle control method for an autonomous vehicle using the power wheeled steering (PWS) method by two driving wheels is described. First, the vehicle dynamics using the PWS method is analyzed. Next, an efficient controller for the PWS method is proposed. This controller includes a feedforward compensator which has the inverse dynamics of the vehicle...

This paper presents the application of Buckingham’s π theorem to scale the powertrain of a High Mobility Multipurpose Wheeled Vehicle (HMMWV) by deriving non dimensional ratios called π parameters. A HIL setup is constructed and the resulting longitudinal dynamics of the scaled vehicle are validated against those of the full scale vehicle. This is performed with the ultimate goal of testing coo...

In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kin...

This document contains details of the SCM deformable soil model implemented in Chrono. The soft soil model discussed herein is an extended version of the classical SCM Soil Contact Model used at DLR for predicting rover mobility. The model, which is based on a fast semi-empirical expeditious approach that requires few parameters, is ideal for scenarios that require a fast (near real-time) simul...

In this paper, we consider a hybrid control strategy for stabilization of nonholonomic systems. In particular, we deal with a typical nonholonomic system, namely a two-wheeled vehicle. We first rewrite the system in a chained form, and then transform it into a nonholonomic integrator (NHI) system. Finally, we apply and modify the hybrid control method for the NHI system, so that the entire syst...

The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control of a mobile robot motion in an unknow...

This paper describes a virtual prototype of a PEMFC based Hybrid Electrical Military Vehicle developed within the Virtual Test Bed (VTB) environment. The VTB is software for modeling, simulation, and virtual prototyping of multi-disciplinary systems. Several of the main models used in the vehicle system especially the fuel cell model are described, and then a system-level model of a High Mobili...

The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology (EPFL) in Lausanne has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC Motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state space controllers, pilots the motors so as to ke...

To address the issue of safely accessing and securing wheeled mobility devices in motor vehicles, more information characterizing current-production devices was needed. In a recent effort, frame characteristics of wheeled mobility devices were defined and a database developed for recording characteristics relevant to access and securement. A representative number of devices have been surveyed t...