A linear lateral dynamic model of skid steered wheeled vehicle

Abstract

Skid steering has been applied to various intelligent vehicles because it has advantages in mobility and general layout. This paper proposes a linear lateral dynamic model of skid steered wheeled vehicle. The lateral dynamic differential equation is given, and the steady state process of turning motion is analyzed based on the dynamic differential equation. The results show that the model accords with the linear assumptions. The applicable range is broader than linear single track model of Ackermann steer at general speed. The linear lateral dynamic model is suitable for the analyses of lateral dynamics and handling stability of the skid steered wheeled vehicles.