Kinematics of four-wheel-steering vehicles

Spentzas, KN; Alkhazali, I; Demic, M

dc.contributor.author	Spentzas, KN	en
dc.contributor.author	Alkhazali, I	en
dc.contributor.author	Demic, M	en
dc.date.accessioned	2014-03-01T01:16:40Z
dc.date.available	2014-03-01T01:16:40Z
dc.date.issued	2001	en
dc.identifier.issn	0015-7899	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14156
dc.subject	Kinematic Analysis	en
dc.subject.classification	Engineering, Multidisciplinary	en
dc.subject.classification	Engineering, Mechanical	en
dc.title	Kinematics of four-wheel-steering vehicles	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s100100100060	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s100100100060	en
heal.language	English	en
heal.publicationDate	2001	en
heal.abstract	In this paper, we review some aspects of the kinematical theory of four-wheel-steering (4WS) vehicles and present some new results and conclusions that we came across during our research on the subject. In a first paragraph, we compare the turning radius of two-wheel-steering (2WS) and 4WS vehicles and draw some interesting conclusions on the manoeuvring ability of either of them. In a second paragraph, we present a general kinematical analysis of 4WS vehicles by considering either the simplified two-wheel (bicycle) model or the more complete four-wheel model. In this analysis, we assume the sideslip angles of the wheels as non-negligible and we derive the general formulae relating the steering angles of the wheels to the geometrical data of the vehicle. By taking as zero the steering angles of the rear wheels, we derive from the above relations the well-known formulae of Ackermann-Jeantaux that are valid for 2WS vehicles.	en
heal.publisher	SPRINGER-VERLAG BERLIN	en
heal.journalName	FORSCHUNG IM INGENIEURWESEN-ENGINEERING RESEARCH	en
dc.identifier.doi	10.1007/s100100100060	en
dc.identifier.isi	ISI:000169222100002	en
dc.identifier.volume	66	en
dc.identifier.issue	5	en
dc.identifier.spage	211	en
dc.identifier.epage	216	en