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

Hiroki Furuichi; Jian Huang; Takayuki Matsuno; Toshio Fukuda

doi:10.1109/IROS.2012.6386033

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 proceeding › Conference contribution

6 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 language	English
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages	3728-3733
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2012.6386033
Publication status	Published - Dec 1 2012
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: Oct 7 2012 → Oct 12 2012

Publication series

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

Other

Other	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country	Portugal
City	Vilamoura, Algarve
Period	10/7/12 → 10/12/12

ASJC Scopus subject areas

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

UN SDGs

This output contributes to the following Sustainable Development Goal(s)

Access to Document

10.1109/IROS.2012.6386033

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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

Dynamic model of three wheeled narrow tilting vehicle and corresponding experiment verification. / Furuichi, Hiroki; Huang, Jian; Matsuno, Takayuki; Fukuda, Toshio.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 3728-3733 6386033 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6386033, IEEE International Conference on Intelligent Robots and Systems, pp. 3728-3733, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6386033

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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.",

author = "Hiroki Furuichi and Jian Huang and Takayuki Matsuno and Toshio Fukuda",

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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.

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

Abstract

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ASJC Scopus subject areas

UN SDGs

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