Dynamic Analysis of an Autonomous Car Mobile by Using the Simulator for Analysis of Mechanical Systems

1st Dynamic Characteristics of a Running Mouse

Abstract

This paper presents dynamic simulations of a running small 2DW2C-type car mobile (Mouse) and simulations of its path tracking controls. The purpose of this research is to make an optimal design for the mouse by using these simulation results. At first, we added “Tire-force” element and “DC Motor-force” element to the Al MOTION (a simulator for analysis of mechanical systems) which has been developed in our laboratory, and inproved the simulator which can simulate a running car mobile. Then, we make the experiments of a small 2DW2C-type car mobile, and compared the experimental results with the simulation results to probe that this simulation model shows the dynamic characteristics of an actual mouse. As a result, we can get a correct simulation result by using this simulation model and this simulator. By using this simulator, we investigated its running performance which is affected by its wheel-base, length of caster, and evaluate a path tracking control which make use of closoidal curves.