Modeling and Simulation of Steering Systems For Autonomous Vehicles

Seminar On Automatic Steering System 

Robotic tasks call for a range of steering activity: one extreme is highway driving with negligible turning for hundreds of kilometers; another is steering for battlefield robots,which call for agile turning. System modeling and simulation are more widely used in robotic vehicle engineering to reduce development time, improve the design and miniaturization of complex systems. This thesis research mainly focuses on steering system modeling and simulation. It also reviews different steering schemes that are used or robotic vehicles and battlefield robot vehicles such as the XUV. Steering systems that are modeled and simulated are skid steering and four wheel steering. A dynamic model is developed for a skid steered robot ATRV-Jr considering lateral forces and longitudinal resistance. It is followed by a Matlab simulation of the state variables. Results of the Matlab simulation are compared to the results obtained from ADAMS simulation of the solid model of the ATRV-Jr. Then the concept of four wheel steering is introduced for the XUV. A basic steering system model is developed using steering system dynamics for four wheel steering. A Matlab simulation of this model is done to check the stability of the system. It is followed by vehicle handling characteristics of the XUV for the fourwheel steering system and its Matlab simulation. Finally, a four-wheel steering model of XUV is developed in ADAMS for dynamic motion analysis. The results of dynamic motion analysis are discussed for future research.

• Fundamentals of steering system
• Dynamic modeling of skid steering vehicle
• Solid modeling and simulation of skid steered vehicle
• Concept design for four-wheel steering
• Steering system modeling
• Vehicle handling characteristics
• Dynamic analysis of four- wheel steering

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