Study on the Performance of a Model Electric Off-Road Vehicle

A model of a six-wheel electric off-road vehicle was developed from the environmental conservation and labor replacement points of view. All wheels of the vehicle can be moved up and down for crossing over an obstacle by sensing its shape from the front of the vehicle. Each of four wheels is independently driven by its own electric motor, which is attached to the wheel axle (i.e. wheel-in motor). The vehicle has a system for changing its center of gravity by shifting a weight longitudinally depending on the situation of the wheels’ positions in order to maintain stability. A computer program automatically controls all of these movements. This paper presents the design concept, structure, vehicle control system and experimental results of crossing over the obstacles and turning.