Turning Model of a Skid-Steering Unmanned Ground Vehicle under Steady State Conditions Based on Magic Formula
Jun Shu Han, Guoquan Ren, Dongwei Li, Ziyong Jia · 2016
In recent decades, Unmanned Ground Vehicles (UGVs), as a part of the Army's Future Combat Systems (FCS), have become a hot research area in national defense science and technology.In order to study the influence factors of steering performance, turning model of a six-wheeled skid-steering UGV is established under steady state conditions based on the Magic Formula.With the turning model, the vehicle middle axle's position, which is one of the influence factors of steering performance, is analysed by the method of numerical analysis.The results proves that when the middle axle's position eccentricity is under one fifth of the distance between the first and the last axles, the steering performance is steadily, and the design is most reasonable.This paper is significative for the structural design of six-wheeled skid-steering UGV.