Kinematics of four-wheel-steering vehicles [Kinematik der vierradgelenketen fahrzeuge]

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	00157899	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14157
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0035329785&partnerID=40&md5=1c4a103d641d21423411e67c8ea2c56c	en
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0035329785&partnerID=40&md5=1c4a103d641d21423411e67c8ea2c56c	en
dc.subject.other	Kinematics	en
dc.subject.other	Steering	en
dc.subject.other	Four-wheel-steering (4WS) vehicles	en
dc.subject.other	Steering angles	en
dc.subject.other	Vehicle wheels	en
dc.title	Kinematics of four-wheel-steering vehicles [Kinematik der vierradgelenketen fahrzeuge]	en
heal.type	journalArticle	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-wheelsteering (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.journalName	Forschung im Ingenieurwesen/Engineering Research	en
dc.identifier.volume	66	en
dc.identifier.issue	5	en
dc.identifier.spage	211	en
dc.identifier.epage	216	en