Kinematic control of vehicle motion

The derivation of laws of kinematic control of motion of three-wheeled and four-wheeled carriages with hard wheels along an arbitrary smooth trajectory is considered in this paper. The independent angles of rotation of driving wheels are chosen as parameters of control for a three-wheeled carriage. The angle of rotation of a front wheel in the two-wheeled car models defined by the angles of rotation of front wheels on the basis of Ackermann steering is chosen as a control parameter for a four-wheeled carriage. It is established that the product of the velocity of any point of the vehicle body and the oriented curvature of its trajectory is a kinematic invariant determining the angular velocity of a vehicle. The paper presents the results of numerical modeling and animation of three-wheeled and four-wheeled carriages motion demonstrating the adequacy of the proposed model of kinematic control. The use of the proposed model can be a significant refinement of algorithms of parallel parking as well as the solution of navigation problems of management of motor vehicles using GPS and GLONASS navigation systems and problems of control of mobile robots with the help of tracking sensors. Also the proposed model can be useful for designing the motor roads, road interchanges, single-level and multilevel Parking lots, gasoline stations, on-the-go fast food stations and for the creation of car-simulators.