Abstract:
This paper is concerned with the problem of the motion of a wheeled vehicle on a plane in the case where one of the wheel pairs is fixed. In addition, the motion of a wheeled vehicle on a plane in the case of two free wheel pairs is considered. A method for obtaining equations of motion for the vehicle with an arbitrary geometry is presented. Possible kinds of motion of the vehicle with a fixed wheel pair are determined.
Keywords:
nonholonomic constraint, system dynamics, wheeled vehicle, Chaplygin system.
This work was supported by the Russian Scientific Foundation (project 14-50-00005) and was carried out at the Steklov Mathematical Institute of the Russian Academy of Sciences.
Citation:
Alexey V. Borisov, Ivan S. Mamaev, Alexander A. Kilin, Ivan A. Bizyaev, “Qualitative Analysis of the Dynamics of a Wheeled Vehicle”, Regul. Chaotic Dyn., 20:6 (2015), 739–751
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\by Alexey V. Borisov, Ivan S. Mamaev, Alexander A. Kilin, Ivan A. Bizyaev
\paper Qualitative Analysis of the Dynamics of a Wheeled Vehicle
\jour Regul. Chaotic Dyn.
\yr 2015
\vol 20
\issue 6
\pages 739--751
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Linking options:
https://www.mathnet.ru/eng/rcd32
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This publication is cited in the following 19 articles:
A. A. Kilin, T. B. Ivanova, “The Integrable Problem of the Rolling Motion
of a Dynamically Symmetric Spherical Top
with One Nonholonomic Constraint”, Rus. J. Nonlin. Dyn., 19:1 (2023), 3–17
E. A. Mikishanina, “Dinamika kacheniya diska s naklonnoi skolzyaschei oporoi”, Izvestiya vysshikh uchebnykh zavedenii. Povolzhskii region. Fiziko-matematicheskie nauki, 2021, no. 3, 45–56
A. V. Borisov, E. A. Mikishanina, S. V. Sokolov, “Dynamics of multi-link uncontrolled wheeled vehicle”, Russ. J. Math. Phys., 27:4 (2020), 433–445
Elizaveta M. Artemova, Alexander A. Kilin, 2020 International Conference Nonlinearity, Information and Robotics (NIR), 2020, 1
Kirill S. Yefremov, Tatiana B. Ivanova, Alexander A. Kilin, Yury L. Karavaev, 2020 International Conference Nonlinearity, Information and Robotics (NIR), 2020, 1
Vitaliy Fedonyuk, Phanindra Tallapragada, “The Dynamics of a Chaplygin Sleigh with an Elastic Internal Rotor”, Regul. Chaotic Dyn., 24:1 (2019), 114–126
Alexander A. Kilin, Elena N. Pivovarova, “Qualitative Analysis of the Nonholonomic Rolling of a Rubber Wheel with Sharp Edges”, Regul. Chaotic Dyn., 24:2 (2019), 212–233
A. A. Ardentov, Yu. L. Karavaev, K. S. Efremov, “Euler Elasticas For Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization”, Regul. Chaotic Dyn., 24:3 (2019), 312–328
A. Borisov, A. Kilin, I. Mamaev, “Invariant submanifolds of genus 5 and a Cantor staircase in the nonholonomic model of a snakeboard”, Int. J. Bifurcation Chaos, 29:3 (2019), 1930008
Ivan A. Bizyaev, Alexey V. Borisov, Ivan S. Mamaev, “Exotic Dynamics of Nonholonomic Roller Racer with Periodic Control”, Regul. Chaotic Dyn., 23:7-8 (2018), 983–994
Ivan A. Bizyaev, “The Inertial Motion of a Roller Racer”, Regul. Chaotic Dyn., 22:3 (2017), 239–247
A. V. Borisov, I. S. Mamaev, I. A. Bizyaev, “Dynamical systems with non-integrable constraints, vakonomic mechanics, sub-Riemannian geometry, and non-holonomic mechanics”, Russian Math. Surveys, 72:5 (2017), 783–840
E. V. Vetchanin, A. A. Kilin, “Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body”, J. Dyn. Control Syst., 23:2 (2017), 435–458
Alexey V. Borisov, Sergey P. Kuznetsov, “Regular and Chaotic Motions of a Chaplygin Sleigh under Periodic Pulsed Torque Impacts”, Regul. Chaotic Dyn., 21:7-8 (2016), 792–803
T. B. Ivanova, N. N. Erdakova, Yu. L. Karavaev, “Experimental investigation of the dynamics of a brake shoe”, Dokl. Phys., 61:12 (2016), 611–614
A. V. Borisov, I. S. Mamaev, I. A. Bizyaev, “Istoriko-kriticheskii obzor razvitiya negolonomnoi mekhaniki: klassicheskii period”, Nelineinaya dinam., 12:3 (2016), 385–411
A. V. Borisov, A. A. Kilin, I. S. Mamaev, “O probleme Adamara–Gamelya i dinamike kolesnykh ekipazhei”, Nelineinaya dinam., 12:1 (2016), 145–163
Alexey V. Borisov, Ivan S. Mamaev, Ivan A. Bizyaev, “Historical and Critical Review of the Development of Nonholonomic Mechanics: the Classical Period”, Regul. Chaotic Dyn., 21:4 (2016), 455–476
Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “On the Hadamard–Hamel problem and the dynamics of wheeled vehicles”, Regul. Chaot. Dyn., 20:6 (2015), 752
Citation in format AMSBIB
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