2016
DOI: 10.1177/1687814016651556
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Abstract: It is well known that a multi-axle wheeled robot possesses larger load capability and also higher drive performance. However, its steering flexibility is degraded due to the large number of wheels. In order to solve this problem, in this article, we proposed three control schemes based on the center of rotation or the steering angles of both the first-and last-axle wheels. To release these control schemes, steering mode selection and also the left wheel's steering angle in a specific axle are added approaching… Show more

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Cited by 7 publications
(6 citation statements)
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“…One of the latest papers in which the kinematics is considered is the work by Zhang et al 16 The authors analyzed what they call ''the robot's steering modes'' in a multi-axle wheeled robot in order that the robot's wheel can steer without slipping and it can improve its steering flexibility. Then, three steering control schemes are proposed.…”
Section: Introductionmentioning
confidence: 99%
“…One of the latest papers in which the kinematics is considered is the work by Zhang et al 16 The authors analyzed what they call ''the robot's steering modes'' in a multi-axle wheeled robot in order that the robot's wheel can steer without slipping and it can improve its steering flexibility. Then, three steering control schemes are proposed.…”
Section: Introductionmentioning
confidence: 99%
“…The above methods [15][16][17][18] are used to study the steering performances of multi-tracked or articulated tracked vehicles on planes; these methods cannot be utilized to analyze the steering performances of articulated tracked vehicles on ramp surfaces. Zhang et al 19 studied the control strategy of the flexible steering system of an all-wheelsteering robot. Norouzi et al studied the control strategies of multi-tracked vehicles.…”
Section: Introductionmentioning
confidence: 99%
“…Norouzi et al studied the control strategies of multi-tracked vehicles. 20 These two methods 19,20 only discuss the controlling strategies of movement trajectory; the mechanical characteristics of tracks or tires during steering process are not studied. Current models are designed for studying the steering abilities of traditional single-tracked vehicles, [3][4][5][6][7][8][9][10][11][12][13][14] or they only emphasize the planar steering performances of multi-tracked or articulated tracked vehicles [15][16][17][18] or analyze motion trajectory planning.…”
Section: Introductionmentioning
confidence: 99%
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