Later I want to put controller in that model for obstacle detection, dead reckoning technique, and path following.
Please refer to the following books:
Jean-Claude Latombe: Robot Motion Planning
Bodo Heimann, Wilfried Gerth, Karl Popp: Mechatronik. Komponenten-Methoden-Beispiele (in German)
Sharmin, could you be more precise on what input/output you need?
I do have a model for a four wheeled car based on the equations of motion given in [1]. The vehicle model is developped to examine lateral, yaw and roll dynamics (Pitch is not included, which makes the model unsuitable for longitudinal dynamics).
INPUT: steering angle
OUTPUT: longitudinal, lateral and yaw velocity + (roll possible)
CALCULATED: cornering radius, lateral acceleration,...
Furthermore, be aware that each vehicle model has its restrictions. In the model I mentioned above, the tires are assumed to be linear. This property makes the model unsuitable for large steering (and slip) angles. If you'd like to examine a more precise cornering behaviour, you'll need to possess tire data.
[1] H.B. Pacejka, Tire and Vehicle Dynamics 2nd Edt.
I want to make an autonomous vehivle having the property of obstacl detection and path following. I am a novice researcher so i am even struggling to find my path. Thnx for ur help . Plz help me with ur valued advices.
What kind of sensor you want to use? Ultrasonic or infrared maybe laser rangefinder.
Do you have Matlab software available? The codes I have are all written as m-files.
i want to use ultrasonic sensor@jaskot
yes i want to use MATLAB..i have already installed MATLAB in my pc..it will be a great help if u can send me the m.files..i will be grateful.my input will be steering angle(delta) and the output will be the velocity,yaw and also roll with respect to time.@laurent
Please see these articles:
Artur Babiarz, Krzysztof Jaskot, Przemysław Koralewicz : The control system for autonomous mobile platform
A Babiarz, K Jaskot: Autonomous mobile platform
K Jaskot, A Babiarz: Autonomous mobile platform II
K Jaskot, A Babiarz: The project of autonomous mobile robot
Differential (nonholonomic) wheeled mobile robot? or omnidirectional?
At the book "Dynamic Modeling and Control of Engineering Systems" by Kulakowski et al. from Cambridge University Press you can find the mathematical model for a quarter suspension system for a car. At the book "Introduction to Dynamic Systems Analysis" by T.D. Burton from Mc Graw Hill you will find the mathematical model for a four wheeled car.
Wheeled robot..actually i want to do simulation only no hardware part@rodolfo
thanku very much @francisco
dear mam, it would be too easy in softwares like Solidworks and Catia
I have to do it in matlab cause later i need to add controller in the model @mojtaba
:) thanx brother@kamaruddin
first of all you have to decide wich variables are more important for yor controller, are you considering steering system only? or brake system, or any other, then you can try starting with 1/4 model or with a bike model, a very easy to understand book can be "fundamentals of vehicle dynamics" by T. Gillespie.
How many degrees of freedom are sufficient?
you can easily reach to six degree of freedom of the body using Newton laws.
You can also add more degree of freedom to your model by involving wheels motion.
You can find a fully developed 14-DOF vehicle model in MATLAB with a time efficient suspension model and a reprogrammed full set MF tire model in http://alturl.com/shn64, in addition, this work formulated and solved the complicated optimal design and control problems of a 4-IWD electric race car on a given track in curvilinear coordinate system.
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