Analysis and experimental research on the characteristic of skid steering vehicle based on a dynamic analysis model

Ren, Feng; Jiang, Zhengying; Chen, Jinshi; Liu, Bo-Liang

doi:10.1007/s11042-019-7341-x

Cited by 4 publications

(4 citation statements)

References 23 publications

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“…Forward and Backward Movement-Longitudinal Friction Force This is the friction that occurs in the forward and backward movement. It is the friction experienced by traditional wheels and is crucial for propelling the robot in these directions [9][10][11][12][13].…”

Section: Friction Forces For Classic-wheeled Mobile Robot With Differ...mentioning

confidence: 99%

“…In this paper, we aim to develop a dynamic model that accurately captures the resistive forces experienced by such mobile platforms, considering factors such as wheel profiles, mass, static forces, inertia, and most importantly frictional forces. Dynamic modeling of mobile platforms is a crucial aspect of their design and control [9,10]. It helps engineers understand the behavior and performance of the platform under different operating conditions.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Fuzzy Logic-Based Driving Decision for an Omnidirectional Mobile Robot Using a Simulink Dynamic Model

Crenganiș,

Breaz,

Racz

et al. 2024

Applied Sciences

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This scientific paper presents the development and validation process of a dynamic model in Simulink used for decision-making regarding the locomotion and driving type of autonomous omnidirectional mobile platforms. Unlike traditional approaches relying on differential equations, this study uses Simulink’s block-based diagrams, offering a simpler and efficient development process. Importantly, the dynamic model accounts for friction forces, a critical factor for energy monitoring. The model’s validation is conducted experimentally, ensuring its accuracy and reliability. This paper formulates mathematical models for both conventional and Mecanum wheel configurations, facilitating energy-efficient driving strategies. By decomposing resistive forces into inertial and frictional components using the Jacobian matrix, this study accurately simulates electrical current consumption during robot motion. Through fuzzy decision algorithms utilizing parameters such as energy consumption, travel time, precision, and desired maneuverability, this paper proposes a method for determining the optimal locomotion mode for mobile platforms with Mecanum wheels. Overall, this research brings a new contribution to the field of mobile robotics by providing a comprehensive framework for dynamic modeling and it offers the possibility to drive omnidirectional robots in an energy-efficient manner.

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Section: Friction Forces For Classic-wheeled Mobile Robot With Differ...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fuzzy Logic-Based Driving Decision for an Omnidirectional Mobile Robot Using a Simulink Dynamic Model

Crenganiș,

Breaz,

Racz

et al. 2024

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…They believed that it was enough to do local path planning. To analyze characteristics of a skid-steering vehicle, Ren et al 26 first provided a kinematic model based on calculating the moving velocities of the four wheels, and then various dynamic characteristics were added to accomplish the corresponding dynamic analysis. Combining a special simulation tool and corresponding experiments, more important dynamic characteristics could be obtained.…”

Section: Introductionmentioning

confidence: 99%

Modelling and dynamic analysis of slippage level for large-scale skid-steered unmanned ground vehicle

Zhang

Lei

2022

Sci Rep

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To analyze the turning characteristics of a large-scale skid-steered unmanned ground vehicle (UGV), a mathematical model based on geometric characteristics and kinematics was developed in this work. The turning characteristics, as well as some important geometric and moving features, were seriously considered in the model. A self-designed UGV was employed to conduct targeted experiments. Initial experiment showed that the width of UGV was much larger than that of actual value, because slippage phenomenon made the errors of actual velocity and trajectory length between two sides of the UGV were lower than those obtained from direct wheel velocities measurements and calculations. Further experiments which obtained moving velocity of the UAV by means of a highly accurate Inertial Navigation System (INS) were conducted. Combining this velocity, the slippage levels of the four wheels can be quantitatively measured. In addition, using standard velocities derived from the accurate moving velocity, a true turning radius can be accurately calculated in real time when the slippage characteristics were seriously considered, hence, the mathematical model can be sufficiently validated. The work can realize modelling and dynamic analysis and estimation of the slippage characteristics of this type of UGV.

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“…Nah et al 20 limits the optimal torque, which depends on the wheel slip condition and the additional failure information. Ren et al 25 traction established the multi-physical field coupling analysis model, whose parameters are determined by experiments to analyze the terrain characteristics. Caldwell and Murphey 10 addressed the estimation of the contact state by applying the theoretical switched system optimization.…”

Section: Introductionmentioning

confidence: 99%

Speed-adaptive motion control algorithm for differential steering vehicle

Chen

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The differential steering vehicle uses the in-wheel motors to drive the wheels directly and individually. However, in order to deliver the required structural robustness, the differential steering vehicle discarded the mechanical steering system and achieved vehicle steering by applying differential speed between the left and right wheels. This paper presents a novel speed-adaptive motion control algorithm based on the unique chassis configuration to enhance the performance in vehicle handling and lateral stability. The proposed control method first estimates the driver’s driving intention, from which reference wheel speeds are individually generated for each wheel based on their respective slipping and skidding status. Finally, the torque command is automatically adjusted by the speed-tracking controller by proactive adaptation of the wheel spinning resistance to effectively avoid excessive slip on low friction. This method exploits the fact that the torque at the steady state will always be equal to the available longitudinal force, thereby delivering the sophisticated tire force estimation without additional computational efforts, and ultimately helping conserve energy and promote lateral stability. The essential road information collected by this algorithm is also made available to drivers for improved vehicle controllability. The algorithm is subjected to three experimental case scenarios—pivot steering, low-friction driving, and curvilinear driving—through TruckSim–Simulink co-simulations and real vehicle tests, and the results have validated the algorithm in realizing the high-performance steering and maneuvering capabilities for six-wheeled differential steering vehicles.

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Analysis and experimental research on the characteristic of skid steering vehicle based on a dynamic analysis model

Cited by 4 publications

References 23 publications

Fuzzy Logic-Based Driving Decision for an Omnidirectional Mobile Robot Using a Simulink Dynamic Model

Fuzzy Logic-Based Driving Decision for an Omnidirectional Mobile Robot Using a Simulink Dynamic Model

Modelling and dynamic analysis of slippage level for large-scale skid-steered unmanned ground vehicle

Speed-adaptive motion control algorithm for differential steering vehicle

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