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Crab Steering Dynamics Explained

The document discusses vehicle steering, with the pivot point along the centerline through the vehicle's center of gravity, allowing calculation of wheel velocity from desired velocity and turn radius, requiring wheel speed and position sensing controllers.

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Yassir El kabbabi
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3 views1 page

Crab Steering Dynamics Explained

The document discusses vehicle steering, with the pivot point along the centerline through the vehicle's center of gravity, allowing calculation of wheel velocity from desired velocity and turn radius, requiring wheel speed and position sensing controllers.

Uploaded by

Yassir El kabbabi
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

igure 4.5 shows a typical case, of vehicle making turn.

The pivot point lies along the


centerline passing through the CG of vehicle. This type of steering is also known as crab
steering. Given a desired velocity and turn radius, from the above relation, the angular
wheel velocity for each forward velocity can be calculated. This will then require a
controller in each wheel which will sense the speed and position of each wheel. It also
assumes the steering angle at the rear is equal and opposite to the front steering angle

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