Title page for ETD etd-04112004-101215

Type of Document

Thesis

Author

Lakkad, Shailesh

URN

etd-04112004-101215

Title

Modeling and Simulation of Steering Systems for Autonomous Vehicles

Degree

Master of Science

Department

Mechanical Engineering, Department of

Advisory Committee

Advisor Name	Title
Patrick Hollis	Committee Chair
Carl Moore	Committee Member
Rodney Roberts	Committee Member

Keywords

Simulation
Skid Steering
Modeling

Date of Defense

2003-09-12

Availability

unrestricted

Abstract

Robotic tasks call for a range of steering activity: one extreme is highway driving with negligible turning for hundreds of kilometers; another is steering for battlefield robots, which call for agile turning. System modeling and simulation are more widely used in robotic vehicle engineering to reduce development time, improve the design and miniaturization of complex systems. This thesis research mainly focuses on steering system modeling and simulation. It also reviews different steering schemes that are used for robotic vehicles and battlefield robot vehicles such as the XUV. Steering systems that are modeled and simulated are skid steering and four wheel steering. A dynamic model is developed for a skid steered robot ATRV-Jr considering lateral forces and longitudinal resistance. It is followed by a Matlab simulation of the state variables. Results of the Matlab simulation are compared to the results obtained from ADAMS simulation of the solid model of the ATRV-Jr. Then the concept of four wheel steering is introduced for the XUV. A basic steering system model is developed using steering system dynamics for four wheel steering. A Matlab simulation of this model is done to check the stability of the system. It is followed by vehicle handling characteristics of the XUV for the fourwheel steering system and its Matlab simulation. Finally, a four-wheel steering model of XUV is developed in ADAMS for dynamic motion analysis. The results of dynamic motion analysis are discussed for future research.

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