80 lines
3.3 KiB
TeX
80 lines
3.3 KiB
TeX
% Kinematic bicycle model and geometric parameters of the mining truck.
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% Drawn to scale in metres with L_v = 12, B_v = 3, L_w = 6.5, rear overhang 1.5,
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% steering at psi_max = arctan(L_w / R_min) so that the ICR sits at R_min = 12 m.
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\documentclass[border=1pt]{standalone}
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\input{figstyle}
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\begin{document}
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\begin{tikzpicture}[scale=0.53]
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% ---------- global frame ------------------------------------------------
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\draw[->, thin@] (-4.8,-2.8) -- (-2.6,-2.8) node[ann, right] {$x$};
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\draw[->, thin@] (-4.8,-2.8) -- (-4.8,-0.6) node[ann, above] {$y$};
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% horizontal reference through the rear-axle centre, for the heading angle
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\draw[thin@, sitec, dash pattern=on 1.6pt off 1.2pt] (0,0) -- (5.6,0);
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\draw[thin@] (4.2,0) arc[start angle=0, end angle=18, radius=4.2];
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\node[ann] at (5.05,0.72) {$\theta$};
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\begin{scope}[rotate=18]
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% ---------- vehicle body ---------------------------------------------
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\draw[veh, sitec, fill=fillc, fill opacity=0.6]
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(-1.5,-1.5) rectangle (10.5,1.5);
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\draw[thin@, sitec, dash pattern=on 1.4pt off 1pt] (-1.5,0) -- (11.6,0);
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% ---------- wheels ----------------------------------------------------
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% rear wheels, aligned with the body
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\foreach \sy in {-1.5,1.5}{
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\draw[veh, fill=sitec] (-0.9,\sy-0.22) rectangle (0.9,\sy+0.22);
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}
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% front wheels, steered by psi_max = 28 deg
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\foreach \sy in {-1.5,1.5}{
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\begin{scope}[shift={(6.5,\sy)}, rotate=28]
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\draw[veh, fill=parkc, fill opacity=0.85]
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(-0.9,-0.22) rectangle (0.9,0.22);
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\end{scope}
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}
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% ---------- steering angle -------------------------------------------
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\draw[thin@, parkc] (6.5,0) -- ++(28:3.1);
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\draw[thin@] (8.7,0) arc[start angle=0, end angle=28, radius=2.2];
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\node[ann] at (9.35,0.66) {$\psi$};
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\node[annt, parkc] at (9.9,1.95) {$\dot\psi$};
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\draw[->, thin@, parkc] (9.05,1.55) arc[start angle=32, end angle=52,
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radius=3.0];
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% ---------- instantaneous centre of rotation --------------------------
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\draw[thin@, sitec, dash pattern=on 1.6pt off 1.2pt] (0,0) -- (0,12.2);
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\draw[thin@, sitec, dash pattern=on 1.6pt off 1.2pt] (6.5,0) -- (0,12.2);
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\fill[sitec] (0,12.2) circle (0.22);
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\node[ann, above] at (0,12.45) {ICR};
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\node[ann, left] at (-0.25,7.0) {$R_\text{min}=1/\kappa_\text{max}$};
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% ---------- rear-axle centre = path reference point -------------------
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\fill[parkc] (0,0) circle (0.26);
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\node[ann, parkc] at (-2.35,-1.05)
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{$\mathbf{p}=[x,y]^\top$};
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% ---------- dimensions -----------------------------------------------
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% wheelbase
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\draw[dimline] (0,-0.75) -- (6.5,-0.75);
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\node[annt, fill=fillc, inner sep=0.4pt] at (3.25,-0.75) {$L_\text{w}$};
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% overall length
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\draw[dimline] (-1.5,-2.55) -- (10.5,-2.55);
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\node[annt, fill=white, inner sep=0.4pt] at (4.5,-2.55) {$L_\text{v}$};
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\draw[thin@] (-1.5,-1.6) -- (-1.5,-2.75);
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\draw[thin@] (10.5,-1.6) -- (10.5,-2.75);
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% width
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\draw[dimline] (-2.9,-1.5) -- (-2.9,1.5);
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\node[annt, rotate=90, fill=white, inner sep=0.4pt]
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at (-2.9,0) {$B_\text{v}$};
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\draw[thin@] (-1.65,-1.5) -- (-3.1,-1.5);
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\draw[thin@] (-1.65,1.5) -- (-3.1,1.5);
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% swept rectangle annotation
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\node[annt, sitec] at (7.4,-0.95) {$\mathcal{V}(\boldsymbol{\eta})$};
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\end{scope}
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\end{tikzpicture}
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\end{document}
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