Title: Dynamic models and parameter identification of a heavy-duty autonomous vehicle

Authors: Danwei Wang, EngKng Tay, Mohamed Zribi

Addresses: School of EEE, Nanyang Technological University, 639798, Singapore. ' Pasir Panjang Teminal Engineering Department, PSA Corporation, 117606, Singapore. ' Department of ECE, College of Engineering and Petroleum, Kuwait University, Kuwait

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.

Keywords: heavy vehicles; four-wheel steering; four-wheel driving; dynamic modelling; parameter identification; dynamic motion; autonomous vehicles; container transportation; seaports; tyre stiffness; friction; simulation; port transport.

DOI: 10.1504/IJVAS.2008.016481

International Journal of Vehicle Autonomous Systems, 2008 Vol.6 No.1/2, pp.122 - 133

Published online: 31 Dec 2007 *

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