Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scann...

The objective of this work is to develop statistical models to predict Locked Wheel Skid Trailer (LWST) skid numbers from Dynamic Friction Tester (DFT) and Circular Texture Meter (CTM) measurements conducted on asphalt pavement surfaces. The analyses conducted are descriptive as well as analytical. They include all descriptive measures along with linear and nonlinear regressions. For both analy...

The hydraulic steering mechanism can lead the vehicle’s hydraulic system more complex and the tire wear heavier in the process of steering, which is detrimental to the steering control of the articulated motordriven vehicle. Thus the skid steering mode is implemented in the articulated motor-driven vehicle in this paper. This mode can simplify the vehicle without steering cylinder and it is mor...

Skid-steered vehicles, by design, must skid in order to maneuver. The skidding causes the vehicle to behave discontinuously during a maneuver as well as introduces complications to the observation of the vehicle’s state, both of which affect a controller’s performance. This paper addresses estimation of contact state by applying switched system optimization to estimate skidding properties of th...

This report presents two different control algorithms for adaptive vehicle traction control, which includes (1) wheel slip control, (2) optimal time control, (3) anti-spin acceleration and anti-skid control, and (4) longitudinal platoon control. The two control algorithms are respectively based on adaptive fuzzy logic control and sliding mode control with on-line road condition estimation. The ...

Long-term anti-skid performance plays a vital role on the road life cycle and driving safety. Therefore, CVS was proposed, which can perform full-size polishing rutting slabs. The system used to simulate long-term attenuation law of five kinds asphalt mixture with different BOF steel slag contents, influence contents comprehensively analyzed by using pendulum friction value. With increase volum...

Four-wheel independent drive electric vehicles have become the latest development trend of due to their simple structure and high control accuracy. Aiming at sliding problem four-wheel driving in process, a anti-skid strategy is designed. The includes two contents: (1) road recognition module that tracks best slip rate real time; (2) uses fuzzy PID control. Then, based on Carsim MATLAB/Simulink...

Traffic accidents occur frequently every year. Skid-resistance performance is an important indicator in evaluating road safety. In this paper, the surface texture information obtained by a line laser scanner. The original two-dimensional (2D) signal decomposed into eight intrinsic mode functions complementary ensemble empirical decomposition (CEEMD). Eight compose 800 × 8 data matrix. matrix si...

Three popular algorithms (FOF, DENMAX, and SKID) to identify halos in cosmological N-body simulations are compared with each other and with the predicted mass function from Press-Schechter theory. It is shown that the resulting distribution of halo masses strongly depends upon the choice of free parameters in the three algorithms, and therefore much care in their choice is needed. For many para...