TY - JOUR
T1 - Development of a scaled vehicle with longitudinal dynamics of an HMMWV for an ITS testbed
AU - Verma, Rajeev
AU - Del Vecchio, Domitilla
AU - Fathy, Hosam K.
N1 - Funding Information:
Manuscript received September 8, 2007; revised December 20, 2007. Recommended by Guest Editors F. Karray and C.W. de Silva. This work was supported in part by the Crosby Award at the University of Michigan and in part by National Science Foundation (NSF) CAREER Award CNS-0642719. R. Verma and D. Del Vecchio are with the Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI 48109 USA (e-mail: [email protected]; [email protected]). H. K. Fathy is with the Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 USA (e-mail: [email protected]). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TMECH.2008.915820
PY - 2008/2
Y1 - 2008/2
N2 - This paper applies Buckingham's π theorem to the problem of building a scaled car whose longitudinal and powertrain dynamics are similar to those of a full-size high-mobility multipurpose wheeled vehicle (HMMWV). The scaled vehicle uses hardware-in-the-loop (HIL) simulation to capture some of the scaled HMMWV dynamics physically, and simulates the remaining dynamics onboard in real time. This is performed with the ultimate goal of testing cooperative collision avoidance algorithms on a testbed comprising a number of these scaled vehicles. Both simulation and experimental results demonstrate the validity of this HIL-based scaling approach.
AB - This paper applies Buckingham's π theorem to the problem of building a scaled car whose longitudinal and powertrain dynamics are similar to those of a full-size high-mobility multipurpose wheeled vehicle (HMMWV). The scaled vehicle uses hardware-in-the-loop (HIL) simulation to capture some of the scaled HMMWV dynamics physically, and simulates the remaining dynamics onboard in real time. This is performed with the ultimate goal of testing cooperative collision avoidance algorithms on a testbed comprising a number of these scaled vehicles. Both simulation and experimental results demonstrate the validity of this HIL-based scaling approach.
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U2 - 10.1109/TMECH.2008.915820
DO - 10.1109/TMECH.2008.915820
M3 - Article
AN - SCOPUS:40849092634
SN - 1083-4435
VL - 13
SP - 46
EP - 57
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
ER -