Scipediacontent: Scipediacontent moved page Draft Content 167546207 to Morterolle et al 2013a

2021-02-01T21:03:48Z

Scipediacontent moved page Draft Content 167546207 to Morterolle et al 2013a

Scipediacontent: Created page with " == Abstract == International audience; In this paper, a distribution vehicle, which can be equipped with many actuators as wheel electric motors and steering wheels and whic..."

2021-02-01T21:03:42Z

Created page with " == Abstract == International audience; In this paper, a distribution vehicle, which can be equipped with many actuators as wheel electric motors and steering wheels and whic..."

New page

== Abstract ==

International audience; In this paper, a distribution vehicle, which can be equipped with many actuators as wheel electric motors and steering wheels and which is supported to follow a given trajectory, is chosen as an application for determining the optimal vehicle configuration and expected energy gains. The different vehicle configurations are formed by the amount and the position of these actuators, defining 16 different architectures. From the total efforts at the gravity center of the vehicle, the control allocation of the nonlinear system under nonlinear constraints is used to determine the torque of the actuated wheels and the angle of steered wheels. The same objective function is used for actuation allocation while different constraints assumed for describing each vehicle architecture. Energy losses in the tire-road contact zone, necessary power for steering system, kinetic energy of the vehicle during the maneuver and the consumption energy are estimated for comparison purposes in the case of lane changing. Along with that, the performance of the vehicle's steering system was also assessed in the case of a different torque of the electric motors.

== Original document ==

The different versions of the original document can be found in:

* [https://hal.archives-ouvertes.fr/hal-00873705 https://hal.archives-ouvertes.fr/hal-00873705]

* [http://xplorestaging.ieee.org/ielx7/6712176/6728201/06728471.pdf?arnumber=6728471 http://xplorestaging.ieee.org/ielx7/6712176/6728201/06728471.pdf?arnumber=6728471],
: [http://dx.doi.org/10.1109/itsc.2013.6728471 http://dx.doi.org/10.1109/itsc.2013.6728471]

* [https://dblp.uni-trier.de/db/conf/itsc/itsc2013.html#VuMMMR13 https://dblp.uni-trier.de/db/conf/itsc/itsc2013.html#VuMMMR13],
: [https://hal.archives-ouvertes.fr/hal-00873705 https://hal.archives-ouvertes.fr/hal-00873705],
: [https://trid.trb.org/view/1352750 https://trid.trb.org/view/1352750],
: [https://academic.microsoft.com/#/detail/1979966939 https://academic.microsoft.com/#/detail/1979966939]

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Morterolle et al 2013a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 167546207 to Morterolle et al 2013a

Scipediacontent: Created page with " == Abstract == International audience; In this paper, a distribution vehicle, which can be equipped with many actuators as wheel electric motors and steering wheels and whic..."