Dynamic stability of off-road vehicles

Zvi Shiller, Moshe P. Mann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 Scopus citations

Abstract

This paper offers a unified measure for dynamic stability of off-road vehicles that accounts for the tendency to tipover, slide, or loose contact with ground during static equilibrium and in motion. The contacts between the vehicle and ground are assumed rigid, and all wheels are assumed active. The dynamic stability measure is determined by computing the range of velocity and acceleration of the vehicle's center of mass that satisfies a set of dynamics constraints. The upper velocity limit serves as a dynamic stability measure, whereas the acceleration limit at zero speed serves as a static stability measure. In this paper, we demonstrate the approach for a four-wheel drive planar vehicle.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages1849-1853
Number of pages5
StatePublished - 1 Dec 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 28 Sep 20042 Oct 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume2

Conference

Conference2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/TerritoryJapan
CitySendai
Period28/09/042/10/04

ASJC Scopus subject areas

  • Engineering (all)

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