TY - GEN
T1 - Dynamic model of three wheeled narrow tilting vehicle and corresponding experiment verification
AU - Furuichi, Hiroki
AU - Huang, Jian
AU - Matsuno, Takayuki
AU - Fukuda, Toshio
PY - 2012/12/1
Y1 - 2012/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872357955&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872357955&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6386033
DO - 10.1109/IROS.2012.6386033
M3 - Conference contribution
AN - SCOPUS:84872357955
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3728
EP - 3733
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -
