Analysis of factors affecting steering performance of wheeled skid‐steered vehicles. Issue 14 (5th November 2020)

• Record Type: Journal Article
• Authors: Wu, Hang; Xiong, Hui; Du, Weitao; Yang, Xiaodong; Xu, Zhiliang; Yang, Qifan; Shao, Yimin
• Is Part Of: Journal of engineering. Volume 2020:Issue 14(2020)
• Page Start: 1015
• Page End: 1019
• Publication Date: 2020-11-05
• Subjects: wheels -- robot kinematics -- tracked vehicles -- mobile robots -- road vehicles -- vehicle dynamics -- steering systems; skid‐steered vehicles -- steering radius -- poor steering performance -- wheels -- established kinematic model; Engineering -- Periodicals; Engineering; Electronic journals; Periodicals; 620.005
• DOI: 10.1049/joe.2020.0065
• Languages: English
• ISSNs: 2051-3305

Abstract

Abstract : 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.