TY - GEN
T1 - Dynamic stability of off-road vehicles
AU - Shiller, Zvi
AU - Mann, Moshe P.
PY - 2004/12/1
Y1 - 2004/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=14044266948&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:14044266948
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 1849
EP - 1853
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -