The paper is devoted to the trajectory tracking control task for a differentiallydriven vehicle moving on a plane surface under conditions of the persistent skid-slip phenomena. The Vector Field(s) Orientation (VFO) control strategy, presented originally for undisturbed case in [6], has been reformulated here to the new disturbed motion conditions. The extension of the VFO strategy relies on in...

For any given road layout or curvature skid resistance as property of pavement surface and tyre is a decisive factor limiting the speed threshold for safe driving. Skid resistance is no fixed value and is significantly lowered in case of precipitation depending on form and rate. A further influence factor in such cases is the macro texture of pavements due to their capacity to hold precipitatio...

Skidding is considered to be one of the most stressful works for forest environment. This paper presented results obtained from analysis soil deformation and selected physical mechanical parameters soils on skid trails in Gorce National Park. The study analyzed two horse tractor that are continuous use park. Measurements were recorded before (summer) after (autumn) a total 81 skidding cycles, u...

This paper presents an investigation of genetic programming fitness landscapes. We propose a new indicator of problem hardness for tree-based genetic programming, called negative slope coefficient, based on the concept of fitness cloud. The negative slope coefficient is a predictive measure, i.e. it can be calculated without prior knowledge of the global optima. The fitness cloud is generated v...

In this study the impact of production work on the skid roads that have been carried out for many years by manpower animal power or machinery in a beech (Fagus orientalis Lipsky) stand have been examined. For this purpose, herbaceous understory, forest floor and soil samples were collected from the undisturbed area and the skid road. Weight per unit area (kg ha(-1)), organic matter ratio and mo...

Multiple-wheel all-terrain vehicles without a steering system must use great amounts of power when skid steering. Skid steering is modeled with emphasis put on the ground contact forces of the wheels according to the mass distribution of the vehicle. To increase steering efficiency, it is possible to modify the distribution of the normal contact forces on the wheels. This paper focuses on two a...

Skid-steered robots are commonly used in outdoor applications due to their mechanical simplicity, high maneuverability, and robustness. The maneuverability of these robots allows them, under ideal conditions (e.g., flat terrain and powerful actuators), to perform turning maneuvers ranging from point turns to straight line motion. However, sloped terrain, terrain with high friction, or actuator ...

There are many problems in the intelligent car driving on slope, such as pause, tire slip and so on. This system takes msp432p401r single chip microcomputer control core, combines with motor differential, photoelectric cell array, controls through memory algorithm PID speed algorithm, designs an electric car, realizes function of ramp accurate stop. At same time, process experimental analysis, ...