Modeling and Simulation of a Six Wheel Differential Torque Steer Vehicle
Open Access
Author:
Govindarajan, Madhu Soodhanan
Graduate Program:
Mechanical Engineering
Degree:
Master of Science
Document Type:
Master Thesis
Date of Defense:
None
Committee Members:
H J Sommer Iii, Thesis Advisor/Co-Advisor Dr H J Sommer Iii, Thesis Advisor/Co-Advisor
Keywords:
Differential Torque Steer Vehicle Modeling of skid steer vehicles Simulation of complex maneuvers on a skid steer ve
Abstract:
Autonomous Ground vehicles (AGV) are often required to automatically follow a pre-defined trajectory. They are used extensively for various tasks in unstructured environments because of their ability to navigate and perform well in such conditions. AGV’s can be modeled and various simulations can be performed on these models to obtain helpful data. This will help us understand their behavior better under adverse conditions.
Modeling of a six wheeled differential torque system is presented in this thesis. Differential torque steer vehicles, in order to follow a curved path must skid and have lateral tire motion which makes control at a kinematic level insufficient. Thus a dynamic model was developed in this work. This thesis is aimed at developing a mathematical model in MATLAB that will provide useful results about the performance of the vehicle and also validate the simulations done using Adams.
