Abstract
This paper presents the numerical model of multiaxle vehicles running on level ground. Considering possible factors related to turning motion such as vehicle configuration and tire slip velocities, we constructed equations of motion to predict steerability and driving efficiency of such vehicles. In order to reveal the turning characteristics of multiaxle vehicles, the effect of fundamental parameters such as vehicle speed, steering angles and type of driving system were examined on a sample of multiaxle vehicles. Additionally, field tests using full-scale vehicles were carried out to evaluate the basic turning characteristics on level ground.
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