Nonlinear modeling between steering wheel angle and front wheel angle for unmanned vehicle

Unmanned vehicles have attracted notable attention in recent years. Trajectory control is one of the core problems of unmanned vehicles. It is meaningful to establish a precise model between the steering wheel angle and the wheel angle. This paper focus on the corresponding turning characteristics of the steering wheel angle and the front wheel angle for front-wheel steering vehicles. A novel nonlinear model with exponential terms and parameters is proposed. Base on measured data, the proposed nonlinear model has the minimal modeling error compared to other two linear models. The average absolute error is 0.1413°, which is a very small value. The simulation results illustrated the effectiveness of the proposed nonlinear model of the steering wheel angle and front wheel angle. This model can be applied to the trajectory control for unmanned vehicles.