Qualitative Analysis of the Dynamics of a Wheeled Vehicle

    2015, Volume 20, Number 6, pp.  739-751

    Author(s): Borisov A. V., Mamaev I. S., Kilin A. A., Bizyaev I. A.

    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
    Citation: Borisov A. V., Mamaev I. S., Kilin A. A., Bizyaev I. A., Qualitative Analysis of the Dynamics of a Wheeled Vehicle, Regular and Chaotic Dynamics, 2015, Volume 20, Number 6, pp. 739-751
    DOI: 10.1134/S156035471506009X



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