Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

access icon openaccess Analysis of factors affecting steering performance of wheeled skid-steered vehicles

  • Author(s): Hang Wu 1, 2, 3 ; Hui Xiong 3, 4, 5 ; Weitao Du 1, 2, 3 ; Xiaodong Yang 1, 2, 3 ; Zhiliang Xu 1, 2, 3 ; Qifan Yang 1, 2, 3 ; Yimin Shao 1
    • View affiliations
  • Source: Volume 2020, Issue 14, November 2020, p. 1015 – 1019
    DOI:  10.1049/joe.2020.0065 , Online ISSN 2051-3305
This is an open access article published by the IET under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/)
Received 06/02/2020, Accepted 22/05/2020, Published 11/08/2020

Wheeled skid-steered vehicles have the advantages of compact structure, small steering radius and wide application. However, poor steering performance is an important limitation restricting the development of wheeled skid-steered vehicles. A kinematic model for analysing the relationship between wheels’ rotation speed and the motion state of the vehicles’ mass centre based on Newton's second law was established, then the correctness of the kinematic model was verified by comparing the calculation results with simulation results. The key design perimeters affecting the steering performance were analysed by a control-variable method based on the established kinematic model. The results indicate that the established kinematic model can evaluate the steering performance of skid-steered vehicles correctly and can provide a reference for optimising the design of the vehicles.

Inspec keywords: mobile robots; vehicle dynamics; tracked vehicles; road vehicles; steering systems; wheels; robot kinematics

Other keywords: poor steering performance; steering radius; skid-steered vehicles; wheels; established kinematic model

Subjects: Vehicle mechanics; Robot and manipulator mechanics; Mobile robots; Control technology and theory (production); Mechanical components; Spatial variables control

References

    1. 1)
      • 7. Low, C.B., Wang, D.: ‘Maneuverability and path following control of wheeled mobile robot in the presence of wheel skidding and slipping’, J. Field Robot., 2010, 27, (2), pp. 127–144.
    2. 2)
      • 5. MartinezYi, J., Song, D., Zhang, J., et al: ‘Adaptive trajectory tracking control of skid-steered Mobile robots. 2007 IEEE Int. Conf. on Robotics and Automation, Rome, Italy, 2007.
    3. 3)
      • 3. Maclaurin, B.: ‘A skid steering model with trackpad flexibility’, J. Terramechanics, 2006, 44, (1), pp. 95–110.
    4. 4)
      • 1. Feng, R.: ‘Analysis and experimental research on the dynamic power flow of wheeled skid steering vehicle' (Jilin University, People's Republic of China, 2015).
    5. 5)
      • 6. Yu, W., Chuy, O.Y.J., Collins, E.G.J., et al: ‘Analysis and experimental verification for dynamic modeling of a skid-steered wheeled vehicle’, IEEE Trans. Robot., 2010, 26, (2), pp. 340–353.
    6. 6)
      • 2. Bekker, M.G.: ‘Introduction to terrain-vehicle systems' (The University of Michigan Press, USA., 1978).
    7. 7)
      • 4. Martinez, J.L.: ‘Approximating kinematics for tracked mobile robots’, Int. J. Robot. Res., 2005, 24, (10), pp. 867–878.
http://iet.metastore.ingenta.com/content/journals/10.1049/joe.2020.0065
Loading

Related content

content/journals/10.1049/joe.2020.0065
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
Print this page
This is a required field
Please enter a valid email address