지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.1
- 수록면
- 747 - 752 (6page)
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초록· 키워드
오류제보하기
Recently, skid steering methods have been increasingly applied to unmanned ground vehicles since they can provide a narrow turn that general steering methods like ackerman steering may not provide. However, dynamic behaviors of the skid steering vehicles with articulating arms which occur during a steering are very complicated and coupled. This makes it difficult to control vehicles and in severe case vehicles may loose stability. There are two methods to control unmanned ground vehicles. The first one is speed control method generally used with easiness and robustness in remote vehicle control. The next one is torque control allowing the vehicles to get better performance in several cases provided careful application is achieved. This paper addresses dynamic phenomena of skid steering vehicles during steering and compares with vehicle driving control methods between torque(traction force) control and speed control.
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