Dynamic model of three wheeled narrow tilting vehicle and corresponding experiment verification

Hiroki Furuichi, Jian Huang, Takayuki Matsuno, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

The traffic congestion is growing in urban area these days due to the rapidly increasing number of automobiles. One of the traffic problem solutions is to increase the flow rate of a particular traffic artery. To make the vehicle smaller and narrower might be a good idea. We developed a new conceptual Narrow Tilting Vehicle (NTV) that has one front wheel and two rear wheels. The proposed NTV is very narrow and all three wheels can tilt to improve the stability during turning. We also derive a new switching dynamical model of the NTV. This model considers several states including normal running, temporary running with one rear wheel not on the ground and totally falling down. Based on this model, a simulation platform is established, which is useful to test different control methods and to investigate dangerous driving situations in case hurt drivers in real experiments. The effectiveness of proposed dynamical model is verified through comparison study of simulations and corresponding experiments.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages3728-3733
Number of pages6
DOIs
Publication statusPublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Furuichi, H., Huang, J., Matsuno, T., & Fukuda, T. (2012). Dynamic model of three wheeled narrow tilting vehicle and corresponding experiment verification. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 3728-3733). [6386033] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386033