Peiris, Michael, El-Gindy, Moustafa et Lang, Haoxiang.
2025.
« All-wheel steering and driving control of an 8x8 scaled electric combat vehicle ».
In Proceedings of the CSME-CFDSC-CSR 2025 International Congress (Montreal, QC, Canada, May 25-28, 2025)
Coll. « Progress in Canadian Mechanical Engineering », vol. 8.
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Résumé
This investigation involves the steering and variable wheel speed control for an 8x8 scaled electric combat vehicle (SECV). The SECV was previously constructed at Ontario Tech University and is capable of steering all eight of its wheels to unique steering angles and applying independent variable wheel speeds to each of its eight wheels. The Ackermann steering geometry is used as the basis for the control of the vehicle. The Ackermann condition explains that during a turn, the wheels along an axle require different steering angles, tracing circular paths of differing radii to avoid additional lateral wheel scrubbing and wear. The control of both the steering angles and wheel speed of all eight wheels is performed in real time on the physical vehicle. In addition, three separate steering configurations are developed: traditional steering, fixed third axle steering and all wheel steering. The output steering angles and output wheel speeds are evaluated while the vehicle is stationary with results for the all-wheel steering scenario presented. The main contribution of this research is the physical implementation and accurate control of the Ackermann condition for driving and steering control of the SECV prior to using the same control method for autonomous navigation.
| Type de document: | Compte rendu de conférence |
|---|---|
| Éditeurs: | Éditeurs ORCID Hof, Lucas A. NON SPÉCIFIÉ Di Labbio, Giuseppe NON SPÉCIFIÉ Tahan, Antoine NON SPÉCIFIÉ Sanjosé, Marlène NON SPÉCIFIÉ Lalonde, Sébastien NON SPÉCIFIÉ Demarquette, Nicole R. NON SPÉCIFIÉ |
| Date de dépôt: | 18 déc. 2025 15:17 |
| Dernière modification: | 18 déc. 2025 15:17 |
| URI: | https://espace2.etsmtl.ca/id/eprint/32478 |
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