The effect of Ackermann steering on the performance of race cars

Veneri, Matteo; Massaro, Matteo

doi:10.1080/00423114.2020.1730917

Cited by 26 publications

(8 citation statements)

References 31 publications

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“…The steering mechanism of the inspection robot determines the motion characteristics of the vehicle. At present, the most commonly used vehicle steering system is the Ackermann steering mechanism proposed by Lankensperger in 1818 [28]. Vehicles with Ackermann steering mechanisms achieve steering by controlling the steering angle of the inner and outer wheel.…”

Section: Inspection Robot Steering Modelmentioning

confidence: 99%

A Path Planning Algorithm of Inspection Robots for Solar Power Plants Based on Improved RRT*

Wang,

Gao,

Chen

et al. 2023

Electronics

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In order to improve the safety and efficiency of inspection robots for solar power plants, the Rapidly Exploring Random Tree Star (RRT*) algorithm is studied and an improved method based on an adaptive target bias and heuristic circular sampling is proposed. Firstly, in response to the problem of slow search speed caused by random samplings in the traditional RRT* algorithm, an adaptive target bias function is applied to adjust the generation of sampling points in real-time, which continuously expands the random tree towards the target point. Secondly, to solve the problem that the RRT* algorithm has a low search efficiency and stability in narrow and long channels of solar power plants, the strategy of heuristic circular sampling combined with directional deviation is designed to resample nodes located on obstacles to generate more valid nodes. Then, considering the turning range of the inspection robot, our method will prune nodes on the paths that fail to meet constraint of the minimum turning radius. Finally, the B-spline curve is used to fit and smooth the path. A simulation experiment based on the environment of solar power plant is conducted and the result demonstrates that, compared with the RRT*, the improved RRT* algorithm reduces the search time, iterations, and path cost by 62.06%, 45.17%, and 1.6%, respectively, which provides a theoretical basis for improving the operational efficiency of inspection robots for solar power plants.

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Section: Inspection Robot Steering Modelmentioning

confidence: 99%

A Path Planning Algorithm of Inspection Robots for Solar Power Plants Based on Improved RRT*

Wang,

Gao,

Chen

et al. 2023

Electronics

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“…The electric power train consists of a lithium battery pack, a brushed DC drive motor, and a motor controller. Ackermann effects on MLTS are studied in [59]. State-of-the-art engine models are employed to investigate the minimization of emissions production in [60].…”

Section: The 2010smentioning

confidence: 99%

Minimum-lap-time optimisation and simulation

Massaro

Limebeer

2021

Vehicle System Dynamics

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The paper begins with a survey of advances in state-of-the-art minimum-time simulation for road vehicles. The techniques covered include both quasi-steady-state and transient vehicle models, which are combined with trajectories that are either pre-assigned, or free to be optimized. The fundamentals of nonlinear optimal control are summarized. These fundamentals are the basis of most of the vehicular optimal control methodologies and solution procedures reported in the literature. The key features of three-dimensional road modelling, vehicle positioning, and vehicle modelling are also summarized with a focus on recent developments. Both cars and motorcycles are considered.

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“…A simplifying assumption is that the front wheels have the same wheel angle, δ, according to δ 1 = δ 2 = δ. (2.26) This simplification has little effect on the driving performance [52]. The vertical tire loads F z,i influence the tire traction and are modeled to fulfill the vertical force and moment equilibria…”

Section: Double-track Modelmentioning

confidence: 99%