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Mathematical Modeling for Cornering of Unmanned Vehicle  

이수종 (시크릿 뱅크넷)
정원지 (창원대학교 기계설계공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.11, no.1, 2002 , pp. 70-76 More about this Journal
Abstract
Unmanned vehicles have to decide their velocities suitable for the paths which should be generated by the vehicles themselves, based on the kinematic and dynamic aspects of vehicles. For this purpose, this paper is to propose a mathematical modeling of tuning trace for the cornering of an unmanned vehicle by using normal-tangent coordinates as well as extracting the characteristics of behavior for car drivers in cornering. In the proposed modeling, the limitations of velocity can be determined based on the knowledge that the handling of drivers means the control of radius of curvature. The proposed modeling can reduce computational load and generate turning angles and velocities suitable for the cornering of unmanned vehicles.
Keywords
Comering; Turn Range; Radius of Curvature; N-T Coordinates;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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