The Research of Steady-state and Transient-State Response of Skid Steering Wheeled Vehicle

The skid steering technology has been widely applied to various intelligent wheeled vehicles with the great advantage of mobility and overall layout. The research of lateral dynamics of skid steering vehicle is an important basis of the development process which can provide the dynamics model applied for path planning, trajectory control and guiding vehicle overall design. In this paper, by applying the 2 DOF linear lateral dynamics model established by the author, the expression of the transfer function between the input and output signal of the model was obtained, the steady-state and the transient-state performance of the vehicle was discussed. The results shows that, the neutralsteer skid steering wheeled vehicle has the most desirable transient performance which remains a criticaldamped system with the least response time and no overshoot in a relative large longitudinal velocity range.