Application of Ackermann Steering in Obstacle Crossing Platform of Six-Wheeled Robots

This study focuses on the steering optimization of the obstacle-surmounting platform of six-wheeled robots. After using the Ackermann steering twice, we calculated the parameters such as Ackermann steering angle and turning radius, and then we simulated two situations of Ackermann steering and parallel steering. We simulated the relationship between horizontal friction force and analyzed the tire wear under two conditions using the Archard wear model. Through simulation analysis, we found that after adding the Ackermann steering, with other conditions unaffected, the horizontal friction of the tire was smaller, and the amount of tire wear was less under the same driving time. The results show that by adding Ackermann steering, the steering performance of the obstacle-surmounting platform is improved and the service life of tires is prolonged.