Using Wheel Slippage for Improved Maneuverability of 4 Wheel Steering Vehicles

ATA E., KOKU A. B.

11th International Conference on Mechatronics and Control Engineering, ICMCE 2023, Athens, Yunanistan, 29 - 31 Ocak 2023, ss.159-171 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1007/978-981-99-6523-6_12
  • Basıldığı Şehir: Athens
  • Basıldığı Ülke: Yunanistan
  • Sayfa Sayıları: ss.159-171
  • Anahtar Kelimeler: 2WS, 4WS, Ackerman steering, AWS, Drift, Maneuverability, Wheel slip
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

In the domain of land vehicles, the researches which focus on the subject of slippage mostly develop methods for detecting and avoiding slippage or compensating for slippage. Even when slippage is considered as a potential advantage, this is mostly researched for high speeds. This paper proposes a method that uses slippage as an advantage even at low speeds. This is achieved by using the nonholonomic properties of a 4WS (4 wheel steering) vehicle with independent front and rear drives. It is experimentally shown that controlled low speed slippage can be advantegous for certain tasks by comparing the vehicle behavior to a similar 2WS (2 wheel steering) vehicle which cannot leverage slippage.