Dynamical Characteristics of a Lateral Guided Robotic Vehicle with a Rear Wheel Steering Mechanism Controlled by SSM
نویسندگان
چکیده
This paper discuses sensor steering mechanism (SSM) for a laterally guided vehicle with a rear wheel steering mechanism. The authors have demonstrated the geometry of SSMs for front wheel steering type and reverse phase four-wheel steering type vehicles. SSMs allow stable lateral guiding performance for automated vehicles following a path with straight and curved portions created by a guideway. On other hand, no SSM has been established for a rear wheel steering type vehicle. Rear wheel steering vehicles include forklifts and backward moving conventional motor vehicles which are front wheel vehicles. A SSM for rear wheel steering vehicles would enable a forklift to move into any spaces using automation. This paper proposes a SSM relation for a rear wheel steering vehicle and describes the construction of experimental robotic vehicle with the proposed SSM. Simulated and an experimental data show the advantages of the proposed SSM. Index Terms Lateral Guide, Mobile Robot, Steering Vehicle, Rear Steer, Dynamical System, Drifting
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