Steering optimization for multiaxle vehicles with multiaxle steering

In this work, a method for obtaining a set of optimized maximum wheel steering angles for a multiaxle vehicle with multiaxle steering is proposed. During low-speed operations, multiaxle vehicles must have a specified minimum turning radius to traverse crowded areas. The conventional geometrically correct steering configuration may not result in the desired turning radius due to constraints on the maximum steering angles. In such cases, large tire lateral slip angles may be introduced to decrease the turning radius. However, high tire lateral slip angles cause high tire wear. The proposed optimization process aims to achieve the minimum possible turning radius together with minimum tire lateral slip angles. Genetic algorithm is used in the optimization. A case study is conducted with an 8×8 all-wheel steering off-road vehicle. Results show that significant reductions in turning radius and lateral tire slip angles can be achieved.