| Summary: | 碩士 === 國防大學理工學院 === 電子工程碩士班 === 101 === We constructed an unmanned ground vehicle (UGV) with four-wheel steering function in this research. We obtained and combined the feedback parameters used to determine the stability of the vehicle from the various sensors. In addition, we designed the sideslip angle observer successfully via the kalman filter to restrain the random interference from the system and measured noise and observe the sideslip angle which is difficult to obtain. After that, we established the mathematic model of the system based on the feedback parameters and characteristics of the vehicle. Then, we built up a system structure with three feedback loops and designed the steering controllers to control the sideslip angle, yaw rate, and azimuth, simultaneously. Afterward we could improve the steering behaviors in the lateral and yaw movement of the UGV to keep with natural steering trajectory of Ackerman steering principle via the controllers. Finally, the designed controllers could reduce the sideslip angle effectively to maintain the high stability of UGV, and achieve the goal in the stable steering.
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