1A2-H06 3輪型ビークルのモデル化と安定移動制御(車輪型/クローラ型移動ロボット(2))

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  • 1A2-H06 Modeling and Stable Motion Control of Three Wheeled Vehicle(Wheeled Robot/Tracked Vehicle(2))

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This paper proposes a dynamic model of general behavior using a new concept Narrow Tilting Vehicle (NTV). Our NTV has one wheel on the front and two wheels on the rear. Also, it is very narrow and all three wheels will tilt to make stable during turn. We derive three types of dynamic model. One is the model when all three wheels are on the ground. Other two are the model when each right and left rear wheel floats. These dynamic models are useful to control the real vehicle. Then, we made simulations to indicate the availability of our dynamic model. We also made some simulations to validate our three dynamic models.

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