Soft modelling and fuzzy logic control of wheeled skid-steer electric vehicles with steering prioritisation

摘要

The paper starts by discussing Ackermann - steering, and skid-steering as applied to wheeled vehicles. After review of some of the previous techniques used to control land vehicles, the concept of 'steering prioritisation' (SP) for skid-steer vehicles, which is the main focus of the work, is introduced. The overall contour skid-steer model (OCSM) is then developed, followed by the design of the fuzzy logic (FL) controllers for SP.