| Study on Vehicle Motion Analysis and Control for Skid Steering UGVs with Articulating Arms |
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Sin-Cheon Kang, Jin-Wook Huh, Sang-Hoon Lee, Tae-Young Jee |
| $6{ imes}6$ 가변 현수형 무인차량의 주행 분석 및 제어에 관한 연구 |
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강신천, 허진욱, 이상훈, 지태영 |
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국방과학연구소 |
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| Abstract |
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Recently, skid steering methods have been increasingly applied to unmanned ground vehicles since they can provide a narrow turn that general steering methods like ackerman steering may not provide. However, dynamic behaviors of the skid steering vehicles with articulating arms which occur during a steering are very complicated and coupled. This makes it difficult to control vehicles and in severe case vehicles may loose stability. There are two methods to control unmanned ground vehicles. The first one is speed control method generally used with easiness and robustness in remote vehicle control. The next one is torque control allowing the vehicles to get better performance in several cases provided careful application is achieved. This paper addresses dynamic phenomena of skid steering vehicles during steering and compares with vehicle driving control methods between torque(traction force) control and speed control. |
| Key Words:
Unmanned Ground Vehicles, Skid Steering, Articulating Arms, Torque Control, Speed Control |
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