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Journal articles on the topic 'Ackermann steering'

Author: Grafiati

Published: 4 June 2021

Last updated: 6 February 2022

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1

Zheng, Hongyu, and Shuo Yang. "Research on race car steering geometry considering tire side slip angle." Proceedings of the Institution of Mechanical Engineers, Part P: Journal of Sports Engineering and Technology 234, no. 1 (September 9, 2019): 72–87. http://dx.doi.org/10.1177/1754337119872417.

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The steering trapezoid designed according to the Ackermann steering geometry potentially causes excessive tire wear and affects the steering performance due to the large tire deformation resulting from large lateral acceleration. To address these problems, this article introduces a design method for a race car steering system that considers the tire side slip angles to optimize the target steering angle relation. First, a racing path was planned by genetic algorithm according to the given race track and race car driver characteristics. Next, the objective function of the ideal steering angle relation was constructed by introducing the Ackermann correction coefficient and establishing the modified Ackermann steering geometry model, considering the tire side slip angle. Then, a data acquisition experiment was designed, and the Ackermann correction coefficient was identified by the proposed simulation algorithm. Finally, the coincidence degree of wheel steering centers was defined as the evaluation index, which can be used to describe and evaluate the performance of the coordination for wheels’ movement. Simulation results show that the design method of the steering system effectively improves the handling stability of the race car and reduces the tire leaning-grind.

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2

Zhao, Jing-Shan, Xiang Liu, Zhi-Jing Feng, and Jian S. Dai. "Design of an Ackermann-type steering mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 227, no. 11 (February 4, 2013): 2549–62. http://dx.doi.org/10.1177/0954406213475980.

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This article focuses on the synthesis of a steering mechanism that exactly meets the requirements of Ackermann steering geometry. It starts from reviewing of the four-bar linkage, then discusses the number of points that a common four-bar linkage could precisely trace at most. After pointing out the limits of a four-bar steering mechanism, this article investigates the turning geometry for steering wheels and proposes a steering mechanism with incomplete noncircular gears for vehicle by transforming the Ackermann criteria into the mechanism synthesis. The pitch curves, addendum curves, dedendum curves, tooth profiles and transition curves of the noncircular gears are formulated and designed. Kinematic simulations are executed to demonstrate the target of design.

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3

Pramudita Wid, Wimba, Aufar Syehan, and Danardono Agus Sumarsono. "Kinematic Analysis of Triple Ball Tie-rod in Ackermann Steering and Tilting Mechanism for Tricycle Application." E3S Web of Conferences 130 (2019): 01038. http://dx.doi.org/10.1051/e3sconf/201913001038.

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Nowadays, a concept of tilting three-wheel vehicle is introduced, one of which is the electric tilting tricycle to provide an alternative mode of transportation. Some of the tilting tricycle design usinga tadpole trike configuration and it needs an adequate steering system that can be synergized with tilting mechanism. The steering mechanism follows the Ackermann steering geometry. Usage of Ackermann geometry means applying a mechanism of trapezoidal four-bar linkage to the tricycle. To create and maintain the simple trapezoid shape, Triple Ball Tie-rod model, a single rod which supports three ball joints, is proposed. Since the capabilities of the model are yet to be proven, this research evaluates the usageof a tie-rod model to find out its capabilities to support the works of the steering mechanism of the tricycle. The measurements are conducted after the simulation of the 3D model to extract some data such as maximum lean angle and inner and outer steering angles. Another simulation using regular tie-rod model also conducted with the same method for comparison purposes. The results of the study are maximum allowed tilting angle and generated Ackermann steering angles. Each designed models have their respectiveadvantages.

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4

Mao, Yong Wen, Bao Xia Zhang, Li Gang Cun, and Cheng Xiao. "Analysis and Study on Steering Model of the Four-wheel Independent Driven Electric Vehicle." Advanced Materials Research 512-515 (May 2012): 2583–88. http://dx.doi.org/10.4028/www.scientific.net/amr.512-515.2583.

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Based on the Ackermann-Jeantand steering model, combined with the structure of the electric vehicle (EV), three different steering models are established .The speed of each wheel is calculated during the steering process based on these models. These function relationships are analyzed on MATLAB platform, and the results obtained show the availability and feasibility of these models. Finally, the travel environments of EV are pointed out in which three different steering models are fit respectively.

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5

Fahey, S. O’F, and D. R. Huston. "A Novel Automotive Steering Linkage." Journal of Mechanical Design 119, no. 4 (December 1, 1997): 481–84. http://dx.doi.org/10.1115/1.2826393.

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This brief outlines results of a numerical study involving a novel mechanism called the Fahey eight-member mechanism (FEMM), that has application to automotive steering. This mechanism is considered in terms of a planar kinematics steering model. We derive the governing kinematics and compare results between a synthesized FEMM and two synthesized Ackermann-type steering linkages. Results suggest that FEMM better approximates ideal steering geometry, and could allow an extended range of motion for moderate speed operations.

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6

Pan, Hao, and Run Sheng Song. "The Control Strategy and Experimental Analysis of Electronic Differential Steering for Four Independent Drive Hub Motor Electric Vehicle." Advanced Materials Research 1030-1032 (September 2014): 1550–53. http://dx.doi.org/10.4028/www.scientific.net/amr.1030-1032.1550.

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Wheel hub motor used in drive system of pure electric vehicle has become hot research and future development. Based on a four-wheel independent drive(4WID) electric vehicles with wheel hub motors, the paper has made the research on electronic differential steering control strategy by using Ackermann steering model conditions, and the experimental results have also been analyzed for the actual steering control effects under differential control strategy.

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7

Tseng, Din Chang, Tat Wa Chao, and Jiun Wei Chang. "Image-Based Parking Guiding Using Ackermann Steering Geometry." Applied Mechanics and Materials 437 (October 2013): 823–26. http://dx.doi.org/10.4028/www.scientific.net/amm.437.823.

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An image-based parking guiding system is proposed to help drivers to park their cars into parking space. The proposed system only relies on an embedded hardware and a wide-angle camera to capture images for analysis. The proposed system needs no steering sensor; itis a money-saved technique; moreover, it is suitable for used cars and after-market usage. The input image is first transformed into a top-view image by a transformation matrix of homography. Then corner feature points on two continuous images are extracted to match each other. The feature-point pairs are further pruned by a least-square error metrics. The remained feature-point pairs are then used to estimate the vehicle motion parameters, where a coordinate transformation model is used to model and simulate the Ackermann steering geometry to describe the vehicle motion. At last, the vehicle trajectory is generated based on the vehicle motion parameters and the parking guiding lines are drawn according to the vehicle trajectory.

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8

Shi, Chang Zheng, Zhong Xiu Shi, and Tian Tian Wang. "Design of Steering Trapezoidal Mechanism for FSC Racing Base on Matlab." Advanced Materials Research 647 (January 2013): 885–90. http://dx.doi.org/10.4028/www.scientific.net/amr.647.885.

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The design of steering trapezoidal mechanism is one of the important aspects of the vehicle steering system. Every parameterin steering trapezoidal has significant influences on the steering performance, stability and tire service life of the vehicle.Based on the analysis of the relationship of the inside and outside wheel angle by analytic method, Matlab software can be used to design FSC racing steering trapezoidal mechanism. Considering the conditions of the automobile race,the corresponding parameter of the steering trapezoid is designed to make the relationship of the l wheel angle close to Ackermann geometry relationship, which reduces the wear of tires, ensuring good steering performance and holding the road so well.

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9

Benyeogor, Mbadiwe, and Sushant Kumar. "Geometrical Analysis and Design of Tension-Actuated Ackermann Steering System for Quad-Wheeled Robots." Scientific Review, no. 61 (January 20, 2020): 7–13. http://dx.doi.org/10.32861/sr.61.7.13.

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The tension-actuated steering system is a vehicular steering design that comprises a motorized gear system, pulleys, inelastic string, main steering bar, and a strain gauge. This development is aimed to produce a steering design that could enhance the efficiency of steering systems in quad-wheeled (i.e. four-wheeled) robots. In this work, the steering system of conventional passenger vehicles and existing quad-wheeled robots are reviewed and their technical deficiencies are improved based on cost, power and production factors. Thus, the tension-actuated steering system is proposed as a solution for mechanizing steering functions in quad-wheeled robots. It is expected that this work will stimulate interest and enthusiasm.

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10

Ioffe, M. L. "Ackermann Principle and its Implementation in Modern Cars." Proceedings of Higher Educational Institutions. Маchine Building, no. 9 (738) (September 2021): 40–47. http://dx.doi.org/10.18698/0536-1044-2021-9-40-47.

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The Ackermann principle was developed when it became possible to separately control the four wheels of a moving object in the process of turning. In this case, two tasks arose. The first task was to control the wheels to ensure their pure rolling when the object is turned. The solution of this problem was in the Ackermann principle. The second task was to implement this principle in a specific mechanism. The paper analyzes the mechanisms common in modern cars in order to assess their compliance with the Ackermann principle. The method of analysis was in generating and modeling a finite-difference equation describing the process of transferring the movement of the steering wheel to the movement required to turn the wheels.

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11

Ma, Fangwu, Jinzhu Shi, Yu Yang, Jinhang Li, and Kai Dai. "ACK-MSCKF: Tightly-Coupled Ackermann Multi-State Constraint Kalman Filter for Autonomous Vehicle Localization." Sensors 19, no. 21 (November 5, 2019): 4816. http://dx.doi.org/10.3390/s19214816.

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Visual-Inertial Odometry (VIO) is subjected to additional unobservable directions under the special motions of ground vehicles, resulting in larger pose estimation errors. To address this problem, a tightly-coupled Ackermann visual-inertial odometry (ACK-MSCKF) is proposed to fuse Ackermann error state measurements and the Stereo Multi-State Constraint Kalman Filter (S-MSCKF) with a tightly-coupled filter-based mechanism. In contrast with S-MSCKF, in which the inertial measurement unit (IMU) propagates the vehicle motion and then the propagation is corrected by stereo visual measurements, we successively update the propagation with Ackermann error state measurements and visual measurements after the process model and state augmentation. This way, additional constraints from the Ackermann measurements are exploited to improve the pose estimation accuracy. Both qualitative and quantitative experimental results evaluated under real-world datasets from an Ackermann steering vehicle lead to the following demonstration: ACK-MSCKF can significantly improve the pose estimation accuracy of S-MSCKF under the special motions of autonomous vehicles, and keep accurate and robust pose estimation available under different vehicle driving cycles and environmental conditions. This paper accompanies the source code for the robotics community.

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12

Dong, Lei, Bu Kang Wang, and Rui Min Shi. "Analysis of the Steering Mechanism Based on Spatial Linkages of an Underground Vehicle." Advanced Materials Research 479-481 (February 2012): 894–98. http://dx.doi.org/10.4028/www.scientific.net/amr.479-481.894.

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To achieve the goal of the 4WS (four-wheel steering), the spatial linkages were applied to the steering mechanism of the underground vehicle. The operation principle of the steering mechanism was firstly obtained. Then a nonlinear mathematical model of spatial linkages mechanism was deduced and the deviation from the Ackermann theory is about 7%. The results were acquired by solving the equations numerically in computer simulation software and compared with the real vehicle experiment data. It is demonstrated in the paper that the mathematical model is accurate and the error is within 6.5%. It is thought that this information may be useful in the initial design of the steering mechanism of the underground vehicle.

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13

Paszkowiak, Wojciech, Tomasz Bartkowiak, and Marcin Pelic. "Kinematic model of multiple trailers on a tractor system for production logistics applications." Archives of Mechanical Technology and Materials 39, no. 1 (January 1, 2019): 16–25. http://dx.doi.org/10.2478/amtm-2019-0004.

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Abstract This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production logistics. The analysis concerned three different steering systems of the trailers: virtual clutch and drawbar system, conventional clutch and drawbar system, double Ackermann steering system. Designed kinematic models contain various variants of paths: turning at a constant value of the steering angle, changing the steering angle as a result of an approaching collision. Each of these variants also included driving in a straight line after a 90° turn. The validation of the developed kinematic model was done by using a real logistic train, which path was registered via aerial drone. For each of the developed kinematic models, a visualization of drive through the 90° turn was created.

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14

Maclaurin, B. "Comparing the steering performances of skid- and Ackermann-steered vehicles." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 222, no. 5 (May 2008): 739–56. http://dx.doi.org/10.1243/09544070jauto567.

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15

Marin, Leonardo, Marina Valles, Angel Soriano, Angel Valera, and Pedro Albertos. "Event-Based Localization in Ackermann Steering Limited Resource Mobile Robots." IEEE/ASME Transactions on Mechatronics 19, no. 4 (August 2014): 1171–82. http://dx.doi.org/10.1109/tmech.2013.2277271.

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16

Mishin, S. A., S. A. Vasilyev, and S. E. Limonov. "PID controller in the steering unit with the Ackermann principle." IOP Conference Series: Materials Science and Engineering 1047, no. 1 (February 1, 2021): 012072. http://dx.doi.org/10.1088/1757-899x/1047/1/012072.

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17

Pramanik, S. "Kinematic Synthesis of a Six-Member Mechanism for Automotive Steering." Journal of Mechanical Design 124, no. 4 (November 26, 2002): 642–45. http://dx.doi.org/10.1115/1.1503372.

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A six-member mechanism has been synthesized to achieve five precision points of an automotive steering mechanism. The inner wheel can be rotated up to 61 degrees with fair accuracy. This result has been compared with those achieved by the Ackermann steering mechanism (ASM) and the Fahey-Eight-Member-Mechanism (FEMM). Results show that the divergent end behavior of ASM has been overcome by the present mechanism. The FEMM gives high accuracy but the ASM is less accurate. The suggested mechanism gives fairly accurate result that falls between the above two mechanisms.

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18

Pramanik, Santiranjan, and Sukrut Shrikant Thipse. "KINEMATIC SYNTHESIS OF CENTRAL-LEVER STEERING MECHANISM FOR FOUR WHEEL VEHICLES." Acta Polytechnica 60, no. 3 (July 1, 2020): 252–58. http://dx.doi.org/10.14311/ap.2020.60.0252.

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A central lever steering mechanism has been synthesized to obtain five precision points for a four-wheel vehicle using Hooke and Jeeves optimization method. This compound mechanism has been studied as two identical crossed four-bar mechanisms arranged in series. The optimization has been carried out for one crossed four-bar mechanism only instead of the entire mechanism. The number of design parameters considered for the optimization is two. The inner wheel has been considered to rotate up to 52 degrees. The steering error, pressure angle and mechanical advantage of the proposed mechanism have been compared with those achieved by the Ackermann steering mechanism. The proposed mechanism has less steering error, more favourable pressure angle and increased mechanical advantage. The method of compounding the mechanism is also applicable when the central lever is offset from the longitudinal axis of the vehicle.

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19

Bascetta, Luca, Davide A. Cucci, and Matteo Matteucci. "Kinematic trajectory tracking controller for an all-terrain Ackermann steering vehicle." IFAC-PapersOnLine 49, no. 15 (2016): 13–18. http://dx.doi.org/10.1016/j.ifacol.2016.07.600.

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20

Kamat, Adinarayan Dhananjay. "Design and Development of Roll Cage and Steering System of Go-Kart." International Journal for Research in Applied Science and Engineering Technology 9, no. VI (June 30, 2021): 4641–49. http://dx.doi.org/10.22214/ijraset.2021.35955.

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Go-kart is a one of the motor sport which is played globally. This racing does not require any professional drivers or greater speed. It is a light weight and cheaper vehicle which does not require suspension and differential. In this paper we are concentrating on Roll cage and steering system of Go-kart. While keeping it light weight, chassis material is selected as AISI 1018 which give more tensile strength, machinability, and can sustain maximum load. For designing and analysis CATIA and ANSYS soft wares were used. Whereas in steering system the Ackermann steering mechanism is used for attaining maximum cornering speed, without the slippage of tires. This also gives us minimum turning radius, helping us to take sharp turns when the driver has to take sharp corners.

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21

Zhu, Chuan Qi, Sen Wu, and Yun Zhen Yang. "Research on Electronic Differential Speed Control for In-Wheel Motor Drive Electric Vehicle." Applied Mechanics and Materials 525 (February 2014): 337–41. http://dx.doi.org/10.4028/www.scientific.net/amm.525.337.

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The paper studies control strategy of electronic differential for four in-wheel motors independent drive vehicle. For the in-wheel motor independent drive electric vehicle, the differential speed relationship among the two wheels is analyzed according to the Ackermann&Jeantand steering mode, building the steering differential speed mode which adapt to bench test. When a vehicle drives on a straight line, the speed of each drive wheel is equal. While on a curve, the speed between the inner wheel and the outer one must be different in order to maintain vehicle stability and avoid vehicle skid. The all wheels must meet the requirement of angular speed. Based on Matlab/Simulink software , As a input, vehicle structure parameter, steering angular and so on, this model of differential speed was structured, drive wheel differential speed relationship at different steering wheel angles was determined .Finally, this electronic differential speed control for in-wheel motor drive electric vehicle is validated through PID control closed loops bench simulation test .

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22

Paszkowiak, W., T. Bartkowiak, and M. Pelic. "Kinematic Model of a Logistic Train with a Double Ackermann Steering System." International Journal of Simulation Modelling 20, no. 2 (June 15, 2021): 243–54. http://dx.doi.org/10.2507/ijsimm20-2-550.

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23

Yildirim, M., M. C. Catalbas, A. Gulten, and H. Kurum. "Computation of the Speed of Four In-Wheel Motors of an Electric Vehicle Using a Radial Basis Neural Network." Engineering, Technology & Applied Science Research 6, no. 6 (December 18, 2016): 1288–93. http://dx.doi.org/10.48084/etasr.889.

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This paper presents design and speed estimation for an Electric Vehicle (EV) with four in-wheel motors using Radial Basis Neural Network (RBNN). According to the steering angle and the speed of EV, the speeds of all wheels are calculated by equations derived from the Ackermann-Jeantand model using CoDeSys Software Package. The Electronic Differential System (EDS) is also simulated by Matlab/Simulink using the mathematical equations. RBNN is used for the estimation of the wheel speeds based on the steering angle and EV speed. Further, different levels of noise are added to the steering angle and the EV speed. The speeds of front wheels calculated by CoDeSys are sent to two Induction Motor (IM) drives via a Controller Area Network-Bus (CAN-Bus). These speed values are measured experimentally by a tachometer changing the steering angle and EV speed. RBNN results are verified by CoDeSys, Simulink, and experimental results. As a result, it is observed that RBNN is a good estimator for EDS of an EV with in-wheel motor due to its robustness to different levels of sensor noise.

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24

FAHMIZAL, FAHMIZAL, BUDI BAYU MURTI, DONNY BUDI PRATAMA, and AFRIZAL MAYUB. "Kendali Logika Fuzzy pada Car Like Mobile Robot (CLMR) Penjejak Garis." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 6, no. 3 (October 18, 2018): 451. http://dx.doi.org/10.26760/elkomika.v6i3.451.

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ABSTRAKMakalah ini memaparkan perancangan sistem kendali logika fuzzy untuk mengatur kecepatan dan arah sudut steering pada car like mobile robot (CLMR) dengan menggunakan metode Ackermann steering. CLMR penjejak garis dirancang menggunakan 16 buah photodiode, dan terdapat 7 buah membership fuzzfikasi dari pembacaan error dan last error sehingga terbentuk 49 aturan. Untuk menguji perfoma kendali fuzzy pada sistem CLMR dalam mengikuti lintasan garis maka dilakukan pengujian dengan bentuk lintasan berupa garis lurus dan berbelok serta zig-zag dalam satu lintasan putar. Proses variasi nilai keanggotaan fuzzifikasi masukan dan defuzzifikasi keluaran dilakukan sebanyak lima kali. Dari hasil pengujian diperoleh bahwa kendali logika fuzzy yang diaplikasikan pada sistem mampu membuat pergerakan CLMR sukses mengikuti lintasan uji selama 9,38 detik lebih baik 0,53 detik dari kendali PID. Selanjutnya, hasil rancangan sistem CLMR ini merupakan sebuah prototipe self-driving car.Kata kunci: car like mobile robot, robot penjejak garis, fuzzy, self-driving car ABSTRACTThis paper describes the design of a fuzzy logic control system to adjust the speed and direction of the angle of the steering on the car like mobile robot (CLMR) using the Ackermann steering method. CLMR line tracking is designed using 16 photodiode pieces, and there are 7 fuzzfication membership from reading error and last error so that 49 rules are formed. To test the fuzzy control performance on the CLMR system in following the line trajectory, it was tested with the form of a straight line and a turn and a zigzag in a rotary track. The process of varying input membership fuzzification values and output defuzzification is done five times. From the test results, it was found that the fuzzy logic control applied to the system was able to make CLMR movement successfully followed the test path for 9.38 seconds better than 0.53 seconds of PID control. Furthermore, the results of the CLMR system design are a prototype self-driving car.Keywords: car like mobile robot, line tracking robot, fuzzy, self-driving car

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25

Ni, Jun, and Jibin Hu. "Dynamic modelling and experimental validation of a skid-steered vehicle in the pivotal steering condition." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 231, no. 2 (August 5, 2016): 225–40. http://dx.doi.org/10.1177/0954407016652760.

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The pivotal steering ability of a skid-steered vehicle is an important advantage compared with the steering ability of an Ackermann steered vehicle. In the pivotal steering condition, the strong non-linearity of the properties of the tyres makes prediction of the dynamic modelling and the performance difficult. For this purpose, this paper proposes an experimentally validated dynamic model to describe the motion of a skid-steered vehicle in the pivotal steering condition. The mechanical analytical model of the tyres was constructed on the assumption of an ‘elliptical parabolic’ contact pressure distribution. The dynamic model has nine degrees of freedom, including the longitudinal motion, the lateral motion and the yaw motion of the body and also the rotation of the wheels; the motor saturation is also considered. The analysis and experiments were based on a specific 6 × 6 unmanned skid-steered vehicle which is driven by six independent in-wheel motors, and the driving control algorithm of the vehicle was also described. By comparing the results of experiments and simulations, it was shown that the dynamic model provided an accurate prediction of the performance.

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26

Łopatka, Marian J., and Arkadiusz Rubiec. "Concept and Preliminary Simulations of a Driver-Aid System for Transport Tasks of Articulated Vehicles with a Hydrostatic Steering System." Applied Sciences 10, no. 17 (August 19, 2020): 5747. http://dx.doi.org/10.3390/app10175747.

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Heavy-wheeled vehicles with articulated hydraulic steering systems are widely used in construction, road building, forestry, and agriculture, as transport units and tool-carriers because they have many unique advantages that are not available in car steering systems, based on the Ackermann principle, such as—high cross-country mobility, excellent maneuverability, and high payload and lift capacity, due to heavy axles components. One problem that limits their speed of operation and use efficiency is that they have poor directional stability. During straight movement, articulated tractors’ deviate from a straight line and permanent driver correction is required. This limits the vehicles’ speed and productivity. In this study, we describe a driver-aid system concept that would improve the directional stability of articulated vehicles. Designing such a system demands a comprehensive knowledge of the reasons for the snaking phenomenon and driver behaviors. The results of our articulated vehicle directional stability investigation are presented. On this basis, we developed models of articulated vehicles with hydraulic steering systems and driver interaction. We next added the stabilizing system to the model. A simulation demonstrated the possibility of directional stability improvement.

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27

Shoemaker, Adam, and Alexander Leonessa. "Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles." Journal of Robotics 2015 (2015): 1–15. http://dx.doi.org/10.1155/2015/919073.

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The behavior of nature’s predators is considered for designing a high speed tracking controller for nonholonomic vehicles, whose dynamics are represented using a unicycle model. To ensure that the vehicle behaves intuitively and mimics the biologically inspired predator-prey interaction, saturation constraints based on Ackermann steering kinematics are added. A new strategy for mapping commands back into a viable envelope is introduced, and the restrictions are accounted for using Lyapunov stability criteria. Following verification of the saturation constraints, the proposed algorithm was implemented on a testing platform. Stable trajectories of up to 9 m/s were achieved. The results presented show that the algorithm demonstrates significant promise in high speed trajectory tracking with obstacle avoidance.

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28

Simionescu, P. A., and D. Beale. "Optimum synthesis of the four-bar function generator in its symmetric embodiment: the Ackermann steering linkage." Mechanism and Machine Theory 37, no. 12 (December 2002): 1487–504. http://dx.doi.org/10.1016/s0094-114x(02)00071-x.

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29

Nie, Chenghui, Marin Assaliyski, and Matthew Spenko. "Design and experimental characterization of an omnidirectional unmanned ground vehicle for unstructured terrain." Robotica 33, no. 9 (May 19, 2014): 1984–2000. http://dx.doi.org/10.1017/s0263574714001180.

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SUMMARYThis paper describes the design and experimental validation of an omnidirectional unmanned ground vehicle built for operation on real-world, unstructured terrains. The omnidirectional capabilities of this robot give it advantages over skid-steered or Ackermann-steered vehicles in tight and confined spaces. The robot's conventional wheels allow for operation in natural, outdoor environments as compared to omnidirectional robots that use specialized wheels with small, slender rollers and parts that can easily become obstructed with debris and dirt. Additionally, the robot's active split offset caster design allows the robot to kinematically follow continuous but non-differentiable paths and heading angles regardless of its current kinematic configuration. The active split offset caster design also results in less scrubbing torque and therefore less energy consumption during steering as compared to actively steered caster designs. The focus of this paper is the robot's mechanical design as it relates to kinematic isotropy and experimental validation of the design.

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30

Dong, Xiaotong, Yi Jiang, Zhou Zhong, and Wei Zeng. "Rollover threshold investigation of a heavy-duty vehicle during cornering based on multi-body dynamics." Advances in Mechanical Engineering 10, no. 7 (July 2018): 168781401878950. http://dx.doi.org/10.1177/1687814018789505.

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The objective of this article is to investigate the rollover threshold of a heavy-duty vehicle during cornering. Based on the multi-body dynamics theory, a high-fidelity model is established, which takes account of the chassis flexibility, the suspension nonlinear characteristics, the tire handling model, and Ackermann steering strategy. Furthermore, by the inverse fast Fourier transform method, a three-dimensional stochastic road in space domain is employed in the model to improve the accuracy. A full-size heavy-duty vehicle test was carried out to validate the model. Based on the validated model, the rollover stability and rollover threshold of the heavy-duty vehicle during cornering are investigated. Lateral acceleration, yaw rate, roll angle, and vehicle torsional deflection in different cornering conditions are analyzed. The rollover threshold is summarized by the response surface methodology for the safe cornering purpose. The result shows the practical meaning of improving transportation safety of heavy-duty vehicles and also provides useful insights for developing the rollover warning system.

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31

Zhang, Haojie, Yudong Zhang, and Tiantian Yang. "A survey of energy-efficient motion planning for wheeled mobile robots." Industrial Robot: the international journal of robotics research and application 47, no. 4 (May 18, 2020): 607–21. http://dx.doi.org/10.1108/ir-03-2020-0063.

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Purpose As wheeled mobile robots find increasing use in outdoor applications, it becomes more important to reduce energy consumption to perform more missions efficiently with limit energy supply. The purpose of this paper is to survey the current state-of-the-art on energy-efficient motion planning (EEMP) for wheeled mobile robots. Design/methodology/approach The use of wheeled mobile robots has been increased to replace humans in performing risky missions in outdoor applications, and the requirement of motion planning with efficient energy consumption is necessary. This study analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present. The dynamic constraints play a key role in EEMP problem, which derive the power model related to energy consumption. The surveyed approaches differ in the used steering mechanisms for wheeled mobile robots, in assumptions on the structure of the environment and in computational requirements. The comparison among different EEMP methods is proposed in optimal, computation time and completeness. Findings According to lots of literature in EEMP problem, the research results can be roughly divided into online real-time optimization and offline optimization. The energy consumption is considered during online real-time optimization, which is computationally expensive and time-consuming. The energy consumption model is used to evaluate the candidate motions offline and to obtain the optimal energy consumption motion. Sometimes, this optimization method may cause local minimal problem and even fail to track. Therefore, integrating the energy consumption model into the online motion planning will be the research trend of EEMP problem, and more comprehensive approach to EEMP problem is presented. Research limitations/implications EEMP is closely related to robot’s dynamic constraints. This paper mainly surveyed in EEMP problem for differential steered, Ackermann-steered, skid-steered and omni-directional steered robots. Other steering mechanisms of wheeled mobile robots are not discussed in this study. Practical implications The survey of performance of various EEMP serves as a reference for robots with different steering mechanisms using in special scenarios. Originality/value This paper analyses a lot of motion planning technologies in terms of energy efficiency for wheeled mobile robots from 2000 to present.

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Zhang, Zhilu, and Benxian Xiao. "Research on dual-wheel-independent-drive control of electric forklift based on optimal slip ratio." Science Progress 103, no. 3 (July 2020): 003685042092783. http://dx.doi.org/10.1177/0036850420927836.

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Introduction: As an important transportation, the research on the control strategy of forklift has not been widely carried out. Objectives: This article proposes a turning slip regulation control strategy, which includes the improved electronic differential velocity control and turning slip regulation control, to track the optimal slip ratio. Methods: First, combined with the basic structure and characteristics of dual-wheel-independent-drive electric forklift, the vehicle model, Ackermann–Jeantand steering model, tire-ground model, and tire model of the driving wheel are established respectively. Second, according to these models, an improved electronic differential control strategy considering the influence of vertical load on tire force is proposed and it can reasonably allocate the driving torque of the two driving wheels of electric forklift. Moreover, the optimal slip ratio is given out and the turning slip regulation control strategy, which can track the optimal slip ratio of electric forklift under the conditions of different road surfaces is designed. Results: The simulation result and vehicle test show that the control strategy can optimize the slip ratio of electric forklift and greatly improve the stability of electric forklift. Conclusion: The turning slip regulation control strategy can be implemented on the TFC35 forklift to improve the safety and stability.

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Gao, Zifan, Dawei Zhang, Shuqian Zhu, and Jun-e. Feng. "Distributed active disturbance rejection control for Ackermann steering of a four-in-wheel motor drive vehicle with deception attacks on controller area networks." Information Sciences 540 (November 2020): 370–89. http://dx.doi.org/10.1016/j.ins.2020.06.012.

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Chen, Wen, and Rong Chun Guo. "Optimal Design of Integral Steering Linkage Based on Matlab/Simulink." Applied Mechanics and Materials 48-49 (February 2011): 779–82. http://dx.doi.org/10.4028/www.scientific.net/amm.48-49.779.

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The integral steering linkage is the key part on vehicle, which can ensure the Ackerman steer angle when steering. in this paper, The mathematical model of the Ackerman steering linkage is established. The author introduces the optimal design program for the Ackerman steering linkage with MATLAB optimtoolbox. With the program, users can obtain optimized calculating results by inputting basic structural parameters. Actual output angle and expected input angle curves variation with input angle is automatically drawn so as to facilitate users for analysis, comparison and selection. The proposed method is accurate and efficient to design the splitting Ackerman steering linkage.

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Zhang, Jin Xi, Wei Cai, and Fen Tan. "Design and Analysis of ADAMS Simulation for a New-Type Automobile Steering Mechanism." Advanced Materials Research 706-708 (June 2013): 1250–53. http://dx.doi.org/10.4028/www.scientific.net/amr.706-708.1250.

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This paper puts forward a new type of pure rolling automobile steering mechanism, which is verified accord with the Ackerman principle, also, through the software ADAMS, simulates and analyses the motion performance and the transmission force of this mechanism compared with traditional Ackerman Steering. Key words: steering mechanism; Ackerman principle; ADAMS; pure rolling

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Shen, Bin, and P. K. Ji. "The Application of AD Theory in the Study of Active Steering System." Materials Science Forum 697-698 (September 2011): 636–41. http://dx.doi.org/10.4028/www.scientific.net/msf.697-698.636.

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A new type of steering system so called Ackerman active steering system is put forward through combining the active steering with Ackerman geometry theory. The application of axiomatic design concepts to the steering system design is presented. The fundamental function requirements and the relative design parameters of desirable steering systems are introduced according to the trend of steering system evolution. The uncoupling control system is proposed and the simulation is conducted to verify the concept. The result shows that the coupled system can be converted into an uncoupled one via further design on control system.

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Guo, Cui Xia, Kang Liu, and Wen Ling Xie. "Optimal Design of Basic Parameter of Disconnected Steering Trapezoid." Advanced Materials Research 424-425 (January 2012): 334–37. http://dx.doi.org/10.4028/www.scientific.net/amr.424-425.334.

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In the design of disconnected steering trapezoid, the Fmincon function of MATLAB optimization toolbox is used to optimize its basic parameters. First, establish the optimal mathematical model. Second, obtain wheel angle curve of inside and outside steering by least-squares fitting. Finally, compare the curve with the ideal Ackerman geometric curve to get the optimization parameters of disconnected steering trapezoid. The example of optimized design validated that the actual curve of deflection angle of the both sides of steering wheel was almost close to perfect Ackerman geometry curve, it ensures the steering of wheel do pure rolling in the common conditions, which reduce tire wear

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Guo, Cui Xia, and Hong Zhi Zhang. "Optimization of Integral Steering Trapezoid of Commercial Vehicle Based on MATLAB." Applied Mechanics and Materials 635-637 (September 2014): 299–302. http://dx.doi.org/10.4028/www.scientific.net/amm.635-637.299.

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The good integrated steering trapezoid of the commercial vehicle can reduce the running resistance, making the steering portability, and reduce tire wear. According to the Ackerman principle, establish the outer wheel theory and practice angle deviation minimum, which is as objective optimization mathematical model. Optimizing two important parameters of the steering trapezoid arm value and the steering trapezoid arrangement angle by the optimization toolbox of MATLAB. After optimization, the value of the actual the inner wheel angle deviation between the theoretical is smaller, so the steering characteristic has been significantly improved.

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Jeang, Angus, Chang Pu Ko, Chien-Ping Chung, Francois Liang, and Guan-Ying Chen. "Experimental design and analysis of matching design." International Journal of Quality & Reliability Management 36, no. 7 (August 5, 2019): 1078–87. http://dx.doi.org/10.1108/ijqrm-07-2018-0200.

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Purpose This study considers the five factors of a car rotation system: angle (F1), arm length (F2), toe in and out (F3), width (F4) and length (F5). The purpose of this paper is to fine tune the design so it produces the smoothest response to various rotation angles. Design/methodology/approach In the case of Ackerman’s principle, the response surface methodology (RSM) was used to analyze data when encountering different quality characteristics at various rotation angles. Findings In this study, RSM was used to obtain the best factor and the best reaction value for the five factors of a car rotation system. Practical implications In this study, the four-wheel steering of a car is taken as an example. When the current wheel is turned, the intersection of the left and right wheels of the front axle falls on the extension line of the rear wheel. In this case, the steering will be the smoothest. In this example, we selected angle (F1), arm length (F2), toe in and out (F3), width (F4) and length (F5) as experimental factors, hoping to satisfy the Ackerman principle. Social implications Traditionally, when dealing with four-wheel steering problems, solutions may be based on past experience or on new information used to formulate R&D plans. In this study, the combination of statistical factors and optimization is used to find the optimal combination of factors and the relationship between factors. Originality/value In the past, most literature relied on kinematics to study the car rotation system due to a lack of experimental design and analysis concepts. However, this study aims to achieve the above goals in finding the solution, which can be used to predict reaction values.

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Chen, Feng, and Jiang Zhu. "Evolutionary Optimization on Turning Linkage of Automobile in Simulated Annealing." Applied Mechanics and Materials 34-35 (October 2010): 317–21. http://dx.doi.org/10.4028/www.scientific.net/amm.34-35.317.

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The main function of turning linkage of automobile is to realize the ideal relations of turn angle of the internal and external wheels when vehicles steering. At present the main methods on design computing and verifying turning linkage have still been the planar graphing and analysis method, therefore it is very important to adopt optimization methods to design the steering linkage. Being satisfied with the Ackerman theory steering characteristics and boundary constraints, considering the ideal relationship of steering angles between external and internal wheels in steering linkage to ensure motion accuracy of automobile, optimization model of turning linkage is established. Then the objective function with penalty terms is built by penalty strategy with addition type, so the constrained optimization is transformed into the unconstrained optimization. The simulated annealing algorithm is adopted to optimize turning linkage of automobile, so that optimization process was simplified and the global optimal solution is ensured reliably.

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Borrero-Guerrero, Henry, Rafael Bueno-Sampaio, and Marcelo Becker. "Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot." Lámpsakos, no. 7 (June 16, 2012): 31. http://dx.doi.org/10.21501/21454086.842.

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This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.

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Song, Hong, and Xiao Long Huang. "Study on Electric Differential Control Scheme for Electric Vehicles." Advanced Materials Research 648 (January 2013): 348–52. http://dx.doi.org/10.4028/www.scientific.net/amr.648.348.

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In order to improve control performance of the electric vehicles independent motor driven wheel steering , using the Ackerman angle relation to design electronic differential system of electric vehicles based on DSP2407 . This control strategy considering various pavement condition and slip rate, will be able to realize the electric vehicles in the complex road conditions, and have fast response requirements. Electronic differential controller of electric vehicles based on DSP2407 can deal with between speed of body and Angle of the nonlinear relationship effectively, when steering operation, is about to drive wheel with input different torque, realized the good adaptive differential, and has advantages of good real-time performance and strong robustness etc.

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Setiawan, Didik, Wawan Trisnadi Putra, and Nanang Suffiandi Ahmad. "PENGARUH BAHAN TAMBAH RD260, E7016, ER705-6 PADA PENGELASAN OXY- ACETYLENE TERHADAP KEKUATAN TARIK PADA PLAT BORDES TIPE ST-37." KOMPUTEK 5, no. 1 (April 7, 2021): 22. http://dx.doi.org/10.24269/jkt.v5i1.680.

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This study aims to test the performance of the steering system, transmission, and electric braking system of the Urban Concept Warek V.1.1 type. The basic assumption of electricity is designed with the Urban Concept type (four vehicles like the current car) which is adjusted to the regulations for the Energy Saving Petite Contest (KMHE), which is held by the Indonesian government through the Ministry of Research, Technology and Higher Education. In the steering system design using the Ackerman type steering system, the transmission system uses a chain deive differential while the braking system uses hideelik discs. In the test results, the steering system has a maximum turning angle of 45 ° with a radius of less than 6 meters, for the transmission system in the test engine rotation speed (n,) is 589,867 rpm and electric meter rotation is 642.6 rpm with average speed - Average. 53 km / hour. The amount of deceleration of the braking system is 4.901 and 1.47 s for the braking time.

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Sotelo, Miguel Angel. "Lateral control strategy for autonomous steering of Ackerman-like vehicles." Robotics and Autonomous Systems 45, no. 3-4 (December 2003): 223–33. http://dx.doi.org/10.1016/j.robot.2003.09.002.

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Moldovanu, D., A. Csato, and N. Bagameri. "Study regarding the implementation of an Ackerman steering geometry in MATLAB." IOP Conference Series: Materials Science and Engineering 568 (September 17, 2019): 012092. http://dx.doi.org/10.1088/1757-899x/568/1/012092.

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Hashimoto, Masafumi, Yuuki Nakamura, and Kazuhiko Takahashi. "Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair." Journal of Robotics and Mechatronics 20, no. 6 (December 20, 2008): 903–11. http://dx.doi.org/10.20965/jrm.2008.p0903.

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This paper presents a method of fault diagnosis and fault-tolerant control for a nonholonomic powered wheelchair. Hard faults of sensors and actuators in two drive/steering units of the wheelchair are handled. The fault diagnosis is based on the interacting multiple-model (IMM) estimator. In order to improve fault decisions, we implement mode probability averaging and heuristic decision-making rule in the IMM-based algorithm. A fault-tolerant controller designed based on Ackerman geometry enables safe motion of the wheelchair even if sensors and actuators have partially failed. Experimental results verify the proposed method.

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Bartnicki, Adam, Agnieszka Dąbrowska, Marian Janusz Łopatka, and Tomasz Muszyński. "Experimental Research on Directional Stability of Articulated Tractors." Solid State Phenomena 210 (October 2013): 77–86. http://dx.doi.org/10.4028/www.scientific.net/ssp.210.77.

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Articulated tractors are wide available on the construction equipment market and have a lot of unique advantages not accessible in case of Ackerman steering system or truck-mounted tools. The only unsolved problem is their poor directional stability which significantly limits the speed of operation and work efficiency. This paper investigates the phenomenon of directional stability loss and indicates main reasons for its appearance by means of experimental research. Moreover, conducted tests, acquired results and their analysis could be a basis for future works on stabilizing system supporting the driver of an articulated tractor or enabling operation in remote control mode.

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Qiu, Quan, Zhengqiang Fan, Zhijun Meng, Qing Zhang, Yue Cong, Bin Li, Ning Wang, and Chunjiang Zhao. "Extended Ackerman Steering Principle for the coordinated movement control of a four wheel drive agricultural mobile robot." Computers and Electronics in Agriculture 152 (September 2018): 40–50. http://dx.doi.org/10.1016/j.compag.2018.06.036.

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Darweesh, Hatem, Eijiro Takeuchi, Kazuya Takeda, Yoshiki Ninomiya, Adi Sujiwo, Luis Yoichi Morales, Naoki Akai, Tetsuo Tomizawa, and Shinpei Kato. "Open Source Integrated Planner for Autonomous Navigation in Highly Dynamic Environments." Journal of Robotics and Mechatronics 29, no. 4 (August 20, 2017): 668–84. http://dx.doi.org/10.20965/jrm.2017.p0668.

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Planning is one of the cornerstones of autonomous robot navigation. In this paper we introduce an open source planner called “OpenPlanner” for mobile robot navigation, composed of a global path planner, a behavior state generator and a local planner. OpenPlanner requires a map and a goal position to compute a global path and execute it while avoiding obstacles. It can also trigger behaviors, such as stopping at traffic lights. The global planner generates smooth, global paths to be used as a reference, after considering traffic costs annotated in the map. The local planner generates smooth, obstacle-free local trajectories which are used by a trajectory tracker to achieve low level control. The behavior state generator handles situations such as path tracking, object following, obstacle avoidance, emergency stopping, stopping at stop signs and traffic light negotiation. OpenPlanner is evaluated in simulation and field experimentation using a non-holonomic Ackerman steering-based mobile robot. Results from simulation and field experimentation indicate that OpenPlanner can generate global and local paths dynamically, navigate smoothly through a highly dynamic environments and operate reliably in real time. OpenPlanner has been implemented in the Autoware open source autonomous driving framework’s Robot Operating System (ROS).

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Benyeogor, Mbadiwe S., Oladayo O. Olakanmi, and Sushant Kumar. "Design of Quad-Wheeled Robot for Multi-Terrain Navigation." Scientific Review, no. 62 (February 5, 2020): 14–22. http://dx.doi.org/10.32861/sr.62.14.22.

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Wheeled robots are often utilized for various remote sensing and telerobotic applications because of their ability to navigate through dynamic environments, mostly under the partial control of a human operator. To make these robots capable to traverse through terrains of rough and uneven topography, their driving mechanisms and controllers must be very efficient at producing and controlling large mechanical power with great precision in real-time, however small the robot may be. This paper discusses an approach for designing a quad-wheeled robot, which is wirelessly controlled with a personal computer (PC) by medium-range radio frequency (RF) transceiver, to navigate through unpaved paths with little or no difficulty. An efficient servo-controlled Ackerman steering mechanism and a high-torque driving power-train were developed. The robot’s controller is programmed to receive and respond to RF control signals from the PC to perform the desired motions. The dynamics of the robot’s drivetrain is modeled and analyzed on MATLAB to predict its performances. The robot was tested on various topographies to determine its physical capabilities. Results show that the robot is capable of non-holonomically constrained motions on rough and uneven terrains.

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