Dynamic models and parameter identification of a heavy-duty autonomous vehicle
by Danwei Wang, EngKng Tay, Mohamed Zribi
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 6, No. 1/2, 2008

Abstract: In this paper, we investigate the dynamic motion of an autonomous vehicle for container transportation. This vehicle has a configuration of four wheel steering and driving. It is used for transportation of containers up to 50 tons and in a seaport environment. Dynamic models are developed in three coordinate frames and parameters are identified using experimentally recorded data. Factors, such as tyre stiffness and friction, have been taken into account. Comparisons between the recorded data and model-based simulation results verify the developed models.

Online publication date: Mon, 31-Dec-2007

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