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Behavior Analysis of Skid Steer Control Vehicles
Published April 19, 2004 by University of Salerno in Italy
This paper analyzes the behavior of skid-steering vehicles (SSV). The SSV vehicles direction can be changed by only applying wheel torque difference between the left and right wheels. A basic cornering characteristic of SSV was clarified by the transfer function of 2DOF model and a full-vehicle model simulation. In addition, the relation between the change in turning radius to the acceleration or deceleration of SSV and the relation between input moment to lateral acceleration of SSV during cornering is clarified by a theory of quasi-steady state cornering. It was found that SSV shows over-steer characteristics under any situation, and some control is needed since it is difficult to drive SSV without control because the necessary input moment needed to have a steady turning has nonlinear characteristics with respect to the lateral acceleration.