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.
Requirements for Tire Models of the Lightweight Wheeled Mobile Robots
2015-12-15
19 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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