Analysis of factors affecting steering performance of wheeled skid‐steered vehicles

Wu, Huapeng; Hui, Xiong; Du, Weitao; Yang, Xiaodong; Xu, Zhiliang; Yang, Qifan; Shao, Yue

doi:10.1049/joe.2020.0065

Cited by 1 publication

(1 citation statement)

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“…Moreover, Zheng et al 21 extended a typical four-wheel model and added the traction force and tangential force, and chose motor voltage as the system input and wheel linear speed as the system output, then a nonlinear equation was obtained to analyze the relations between different velocities and turning radii of the skid-steered wheeled vehicle by means of a special system identification algorithm. To design a higher level path tracking controller, Maalouf et al 22 and Wu et al 23 used heading angle, and linear and angular velocities to establish a two-dimensional moving model, and then conducted a path tracking control. Combining the rotating characteristics of a single wheel and the instantaneous center of rotation, Dogru et al 24 proposed a kinematic model for a skid-steered wheeled platform.…”

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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Section: Introductionmentioning

confidence: 99%