Dynamical Characteristics of a Lateral Guided Robotic Vehicle with a Rear Wheel Steering Mechanism Controlled by SSM

Abstract- This paper discuses sensor steering mechanism (SSM) for a laterally guided vehicle with a rear wheel steering mechanism. The authors have demonstrated the geometry of SSMs for front wheel steering type and reverse phase four-wheel steering type vehicles. SSMs allow stable lateral guiding performance for automated vehicles following a path with straight and curved portions created by a guideway. On other hand, no SSM has been established for a rear wheel steering type vehicle. Rear wheel steering vehicles include forklifts and backward moving conventional motor vehicles which are front wheel vehicles. A SSM for rear wheel steering vehicles would enable a forklift to move into any spaces using automation. This paper proposes a SSM relation for a rear wheel steering vehicle and describes the construction of experimental robotic vehicle with the proposed SSM. Simulated and an experimental data show the advantages of the proposed SSM