Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Behavior Analysis of In-wheel Drive Type 6WD/6WS Vehicle Based on System Modeling and Driving Simulation

시스템 모델링 및 주행 시뮬레이션을 통한 인휠드라이브 타입 6WD/6WS 차량 플랫폼의 주행 거동 분석

  • 이정엽 (한양대학교 메카트로닉스공학과) ;
  • 서승환 (한양대학교 기계공학과) ;
  • 손웅희 (한양대학교 메카트로닉스공학과) ;
  • 유승남 (한양대학교 기계공학과) ;
  • 한창수 (한양대학교 기계공학과)
  • Received : 2009.10.14
  • Accepted : 2009.12.29
  • Published : 2010.04.01
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Abstract

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.

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