Abstract
In a previous paper, the simulated loci of high-speed cornering did not correspond with experimentally obtained results because the tire model used only the sticking in the Coulomb friction model. If the centrifugal force becomes larger than the cornering force of the tires, then the vehicle does not maintain the desired course. The cornering force is affected by the sticking or slipping condition of the tires. In order to simulate the high-speed cornering trajectory, the present paper assumes three stages of friction: low kinetic friction force at the beginning of slipping, the period of kinetic friction force, and the return to the static friction condition at small slip angles. In addition to the Rear motor Rear drive (RR) type vehicle, the Front motor Front drive (FF) type vehicle with a Sensor Steering Mechanism (SSM) and a 4-wheel steering mechanism is developed. In the experiments of present paper, both of these robots are run on an oval course at high speed. Numerical simulation and experimental results indicate effective prediction by the friction model.
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