Skid steering based autonomous driving of Robotic Vehicle with Articulated Suspension

This paper describes an autonomous driving control algorithm based on skid steering for Robotic Vehicle with Articulated Suspension (RVAS). The driving control algorithm consists of four parts; speed controller for following a desired speed, trajectory tracking controller which computes a yaw moment input to track a desired trajectory, longitudinal tire force distribution which determines an optimal desired longitudinal tire force and wheel torque controller which determines a wheel torque command at each wheel to keep slip ratio at each wheel below a limit value as well as track the desired tire force. Longitudinal and vertical tire force estimators are designed for optimal tire force distribution and wheel slip control. The dynamic model of RVAS for simulation study is validated using vehicle test data. It is found from simulation and test results that the proposed driving controller produces satisfactory trajectory tracking performance.