Dynamic modelling, validation and handling performance analysis of a skid-steered vehicle

Ni, Jun; Hu, Jibin; Li, Xueyuan

doi:10.1177/0954407015589525

Cited by 10 publications

(12 citation statements)

References 13 publications

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“…Skid steering is widely used in tracked vehicles, skid-steer loaders, all-terrain vehicles, and industrial robots. [16][17][18][19] Its control methods are mostly based on the steering theory of tracked vehicles. But, compared to DAHVs, its structure and steering process are much different.…”

Section: Introductionmentioning

confidence: 99%

A novel assist-steering method with direct yaw moment for distributed-drive articulated heavy vehicle

Shen

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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This paper presents a novel assist-steering method for distributed-drive articulated heavy vehicles (DAHVs) to reduce its dependency on hydraulic steering method and improve the pressure characteristics of hydraulic struts. The objective is to realise the electrification of steering process for DAHVs, which is the basis of unmanned design with more stable control in the following studies. The theory and purpose of the proposed assist-steering method in this paper distinguishes it from the traditional direct yaw-moment control method or assist-steering methods in the previous studies, which easily produce interference with hydraulic steering method in DAHVs during steering process. In this paper, an accurate vehicle model is developed along with the field test for its satisfactory verification. Meanwhile, with the decoupling analyses of two different effects of steering methods on vehicle steering process, the assist-steering method is developed. In order to show the advantages brought on by this method, a case study is performed and analyzed. The results demonstrate that this proposed method can reduce the pressure of hydraulic steering system to about 41.2% without any changes of steering process, which is limited by the drive ability of wheel-side motor. Moreover, the pressure of inlet chamber in hydraulic struts is always reduced to about 40%–60% without any changes of the pressure in outlet chamber, which can improve the working performance of hydraulic steering system.

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Section: Introductionmentioning

confidence: 99%

A novel assist-steering method with direct yaw moment for distributed-drive articulated heavy vehicle

Shen

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…However, in the two-degreeof-freedom (2DOF) dynamic model, the properties of the tyres are assumed to be linear in order to obtain an analytical expression. Furthermore, we have also clarified previously 25 that the 2DOF model is accurate only when the longitudinal slip ratio of a tyre is less than 0.1 and the lateral slip angle of a tyre is less than 5°.…”

Section: Introductionmentioning

confidence: 79%

“…The present authors 25 previously proposed a linear 2DOF dynamic model to obtain conclusions on the general handling performance of a skid-steered vehicle. Furthermore, it was proved to be accurate when the longitudinal slip ratio of tyre is smaller than 0.1 and the slip angle is smaller than 5°.…”

Section: The Dynamic Model Of a Skid-steered Vehicle Used For Pivotalmentioning

confidence: 99%

“…In previous work by two of the present authors, 25 an analytical lateral dynamic model with two DOFs was proposed for a skid-steered vehicle, and some general handling performance conclusions were obtained, such as the steering characteristics. However, in the two-degreeof-freedom (2DOF) dynamic model, the properties of the tyres are assumed to be linear in order to obtain an analytical expression.…”

Section: Introductionmentioning

confidence: 98%

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Dynamic modelling and experimental validation of a skid-steered vehicle in the pivotal steering condition

2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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The pivotal steering ability of a skid-steered vehicle is an important advantage compared with the steering ability of an Ackermann steered vehicle. In the pivotal steering condition, the strong non-linearity of the properties of the tyres makes prediction of the dynamic modelling and the performance difficult. For this purpose, this paper proposes an experimentally validated dynamic model to describe the motion of a skid-steered vehicle in the pivotal steering condition. The mechanical analytical model of the tyres was constructed on the assumption of an 'elliptical parabolic' contact pressure distribution. The dynamic model has nine degrees of freedom, including the longitudinal motion, the lateral motion and the yaw motion of the body and also the rotation of the wheels; the motor saturation is also considered. The analysis and experiments were based on a specific 6 3 6 unmanned skid-steered vehicle which is driven by six independent in-wheel motors, and the driving control algorithm of the vehicle was also described. By comparing the results of experiments and simulations, it was shown that the dynamic model provided an accurate prediction of the performance.

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“…Among numerous types of mobile robots, skid-steered mobile robots (SSMR) are mostly applied as they are capable of traversing over various of terrains [1]. Particularly, wheeled skid-steered robots are mainly discussed for higher cruise speed and lower steering resistance than the tracked robots [2]. Even though many kinds of skid-steered robots are previously adopted in such fields like planetary exploration, military, agriculture, and construction, most of them are operated remotely.…”

Section: Introductionmentioning

confidence: 99%

Slip-Aware Motion Estimation for Off-Road Mobile Robots via Multi-Innovation Unscented Kalman Filter

Liu

Yuan

et al. 2020

IEEE Access

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Benefiting from high mobility and robust mechanical structure, ground mobile robots are widely adopted in the outdoor environment. The mobility of skid-steered mobile robots highly depends on the nonlinear and uncertain interaction between the tire and terrain. This paper introduces an approach to estimate the position, orientation, velocity, and wheel slip for the skid-steered mobile robots navigating on off-road terrains. More specifically, a Multi-Innovation Unscented Kalman Filter (MI-UKF) is developed to fusing different sensors' data. Historical innovations generated along the time sequence are merged into the update process of standard UKF to improve the accuracy of motion estimation. In the proposed estimator, an asymmetric ICR kinematic indicating wheel slip is taken into localization process. A four-wheeled prototype is introduced and three challenging test scenarios are designed. The improvements in orientation and velocity estimation are achieved according to results comparison. In the turning maneuver, the ICRs-based model operates more steady than the traditional wheel slip/skid model.

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Dynamic modelling, validation and handling performance analysis of a skid-steered vehicle

Cited by 10 publications

References 13 publications

A novel assist-steering method with direct yaw moment for distributed-drive articulated heavy vehicle

A novel assist-steering method with direct yaw moment for distributed-drive articulated heavy vehicle

Dynamic modelling and experimental validation of a skid-steered vehicle in the pivotal steering condition

Slip-Aware Motion Estimation for Off-Road Mobile Robots via Multi-Innovation Unscented Kalman Filter

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