Study regarding the implementation of an Ackerman steering geometry in MATLAB

Moldovanu, Dan; Csato, Aron; Bagameri, Norbert

doi:10.1088/1757-899x/568/1/012092

Cited by 5 publications

(2 citation statements)

References 6 publications

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“…The path planning method presented in this paper is based on the principle of the Ackerman steering geometry. 13 To protect the tires, all the wheels are required to roll purely without slipping when the vehicle is turning. This can be achieved when the axes of all the wheels intersect at one point.…”

Section: Low-speed Kinematic Model Of Vehiclementioning

confidence: 99%

Automatic parking paths planning research based on scattering points six-degree polynomial and easement curve

Huang

Yang

Ding

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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Existing automatic parking path planning methods usually use circular curves and lines. At the junction of parking paths, the curves are not smooth. Based on a low-speed kinematic model of a vehicle, this study redesigned parking paths. Sixth-degree polynomial based on scattering points and easement curve are used in parking path planning. At the junction of two curved segments, the paths are continuous in the original, first-order and second-order equations. Script programming was used in MATLAB to draw the parking paths and the area swept by the vehicle. Parking simulations were conducted using Carsim to demonstrate the parking process. The parallel and vertical parking path simulation results obtained using MATLAB and Carsim showed that the designed parking paths were smooth.

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Section: Low-speed Kinematic Model Of Vehiclementioning

confidence: 99%

Automatic parking paths planning research based on scattering points six-degree polynomial and easement curve

Huang

Yang

Ding

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Although the obtained geometry is close to the Ackerman values but the results differ from true Ackerman criteria. Similarly, Moldovanu et al 19 performed optimization of six bar Ackerman steering geometry using Matlab Simulink model. However, the resulting geometry showed a noticeable deviation in the results when compared to Ackerman criteria.…”

Section: Introductionmentioning

confidence: 99%

Optimal kinematic synthesis of 6 bar rack and pinion Ackerman steering linkage

Pradhan

Ganguly

Swain

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this article, synthesis and simultaneous optimization of a steering mechanism is proposed for enhancing the cornering performance of a Formula Students competition car. A planar six-bar steering mechanism is synthesized assuming it as two separate slider-crank arrangements with a rigid link between the sliders. Numerical optimization is performed using multi-objective genetic algorithm (MOGA), which includes minimization of differences between both slider displacements and summation of deviations from true Ackerman geometry for a set of steering inputs. The selection of various parameters for running MOGA is well established based on iterative way. The seven variables (such as wheelbase and track width lengths, tie rod, tie-arm etc.) are optimized and used to construct the Ackerman steering geometry. Finally, the outer to inner tyre rotations of obtained geometry is calculated and compared with the predefined targeted values of actual Ackerman criteria.

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