• 한국자동차공학회논문집
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• 제19권2호
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• pp.1-11
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• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.